【精品毕设】FPGA的机器人设计系统

本科毕业设计(论文)

题目: 基于FPGA的六足仿生机器人控制

系统设计

姓名: 李国超

学院: 机械电子工程学院

专业: 测控技术与仪器

班级: 1003071 学号: 100307110 指导教师: 姜树海职称:副教授

二○一 4 年 5月 15 日

摘要

六足仿生机器人因其很好的复杂地形适应能力，被越来越多的运用在野外侦查、救灾抢险中。由于六足仿生机器人在这方面的出色表现，科研人员们对六足机器人的研究也越来多。本课题将多足昆虫的行为学研究成果，融入到六足仿生机器人的设计与控制中，开发能在复杂自然环境中灵活运动的六足仿生机器人,对执行野外侦查、减灾救援等具有重大现实意义，对仿生机器人的发展具有重要的实际意义[1]。

六足仿生机器人嵌入式控制系统包括两个部分，第一部分是在Nios II 处理器内以软件方式实现，采用 C 语言编写应用程序，主要功能是实现机器人直行、转弯。第二部分是在FPGA 芯片内完成系统复位，串口收发等模块的实现，以及Nios II 的例化和周边I/O 信号读取与输出。硬件实现计算简单且计算速度较快，有多组并行处理的能力。采用Verilog HDL硬件描述语言实现硬件代码的编写。论文以Bioloid 公司生产的智能伺服舵机AX-12 组成六足机器人架构，利用内嵌Nios II 处理器的FPGA 控制实现机器人完成各种动作。研究采用Quartus II软件实现设计输入和硬件配置，使用Quartus II 中的SOPC Builer 构架SOPC 系统，实现了Nios II 处理器核、SDRAM 控制器、EPCS 控制器、PLL、232UART等的配置。六足仿生机器人的软件开发过程是利用软件开发工具Nios II 9.1Software Build Tools for Eclipse（简称EDS），对硬件系统中组件的驱动及应用程序进行设计。[1]鉴于课题的前期工作基础，设计实现了六足仿生机器人嵌入式控制系统，并进行了整机测试，测试结果表明：机器人实现单舵机灵活控制和多舵机协调控制，机器人行走平稳，达到预期要求。

关键词：六足；仿生机器人；控制；FPGA；SOPC

Research on Embedded Control System for Hexapod Bionic

Robot Based on FPGA

Abstract

More and more hexapod bionic robot is apply to field investigation, mitigation rescue with the good ability of adaptation to complex terrain.Because of the good behave of hexapod bionic robot in this field,more and more research specialist staff begain to research on hexapod bionic robot.So make themyriapod insect behavior studies results into robot design and control, development hexapod bionic robot flexible movement in complex natural environment to implementation of field investigation, mitigation rescue is great practical

significance and important practical significance to development of bionic robot.

On the basis of detailed analysis hexapod bionic robot control system researchstatus, Design hexapod robot embedded control system Based on SOPC (systemintegrated chip) servo control technology development environment, using FPGAembedded Nios II processor. The FPGA control chip produced by Altera Cyclone II EP2C8Q, and use SF - Nios II control panel based on this chip as robot controller. Hexapod bionic robot embedded control system consists of two parts. In the first part, Using C language Implementate functions in Nios II processor, the main function is to realize the trajectory planning of robot to go straight, turn, obstacle avoidance and temperature detection and storage and so on. The second part including complete system reset, serial transceiver module, and The Nios II instantiated and peripheral I/O signal read and output in the FPGA chip. The hardware implementation is simple and calculation speed is fast, and have a plurality of parallel processing capabilities. Hardware description language based on Verilog HDL. Based on Bioloid company production of intelligent servo steering gear of AX - 12 six-legged robot architecture, using Nios II embedded processor in FPGA to complete various actions. Hardware configuration realized by using the Quartus II software, and use the Quartus II SOPC Builer framework of SOPC system, realized the configuration of The Nios II processor, SDRAM controller, EPCS controller, PLL, 232UART, and so on. The software development process of Hexapod bionic robot is writing hardware drivers and application program with Eclipse (EDS) and Nios II 9.1 Software. Given topic preliminary basis work, the design has realized the hexapod bionic robot embedded control system, and the whole experiment. The experimental results show that the robot to achieve single flexible control of the steering gear and coordinated control with serval servos, obstacle avoidance and detection of the external environment, steady walk , the design rechieved the expected requirements.

Keywords: Hexapod; bionic robot; control; FPGA; SOPC

目录

第一章绪论............................................. - 1 -1.1课题来源及背景.................................................. - 1 -1.2课题的研究目的及意义............................................ - 1 -1.3国内外六足仿生机器人控制系统研究现状............................ - 1 -1.4课题研究内容和主要工作.......................................... - 2 -1.5 小结 ........................................................... - 2 -第二章六足仿生机器人控制系统总体设计..................... - 3 -2.1 引言 ........................................................... - 3 -2.2 六足仿生机器人结构 ............................................. - 3 -2.3机器人步态产生.................................................. - 4 -2.4 六足仿生机器人舵机选择 ......................................... - 4 -2.5 AX-12舵机介绍.................................................. - 4 -2.5.1 AX-12 数字舵机概述及特性 ..................................... - 4 -2.5.2 AX-12 舵机通信协议 ........................................... - 5 -2.6 六足仿生机器人控制系统 ......................................... - 6 -2.7 嵌入式控制系统硬件选择 ......................................... - 7 -2.8 嵌入式控制系统软件选择 ......................................... - 8 -2.9 小结 ........................................................... - 8 -第 3 章嵌入式控制系统硬件设计 ........................... - 9 -3.1 引言 ........................................................... - 9 -3.2 六足仿生机器人嵌入式控制系统硬件结构 ........................... - 9 -3.3 FPGA开发板结构和外围接口资源.................................. - 10 -3.3.1 睿智 FPGA 开发板硬件资源 .................................... - 10 -3.3.2 设计用到的板载接口资源电路 .................................. - 11 -3.4 建立 Quartus II 工程 .......................................... - 14 -3.5 SOPC设计...................................................... - 14 -3.5.1 SDRAM 控制器配置 ............................................ - 15 -