Realization of Stewart parallel robot kinematics algorithm based on ZYNQ
In view of the problem that the real-time performance of Stewart robot is not high,a scheme for software and hardware cooperative calculation of the kinematics solution of Stewart parallel robot based on ZYNQ chip is proposed. The ZYNQ chip integrates two different embedded chips,PL(FPGA)and PS(ARM). PL(FPGA)is used as a co-processor of PS(ARM)to solve kinematics algorithms,while PS(ARM)runs real-time systems for real-time control of the Stewart robot. Experiments show that the error between the kinematics solution of the Stewart parallel robot calculated by the hardware and the theoretical calculation result is within a reasonable range,and the solution time meets the requirement that the control period of the real-time system is less than 2 ms.
Stewart parallel robotkinematicsZYNQ chiphigh-level synthesisLinux system
万方数据
维普
