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介绍一种简易并适用于教学实验型的机器人控制系统的搭建。该系统的控制层采用ST公司的Cortex-M4核的ARM芯片作为主控芯片,FPGA作为接口设计芯片进行设计。由ARM端上的网口可以与PC进行数据交互,在PC(Personal Computer)上可以方便地进行界面开发。该系统目的是搭建开放型的结构,学生不仅能掌握机器人的基本操作,也能进一步理解控制层的内部设计。同时在熟悉了解系统的基础上,还能根据不同的需求,改进算法以满足不同对象的控制。
Introduce a kind of simple and suitable for teaching experiment type robot control system to build. The control layer of this system adopts the ARM chip of ST Company’s Cortex-M4 core as the master chip, and FPGA as the interface design chip. By the ARM port on the network with the PC for data exchange, in the PC (Personal Computer) can easily interface development. The purpose of this system is to set up an open structure. The students not only master the basic operation of the robot, but also understand the internal design of the control layer. At the same time familiar with the system based on the foundation, but also according to different needs, improve the algorithm to meet the control of different objects.