摘要
针对机器人控制器的开放性发展趋势和传统控制器固有的缺陷,采用分层方式设计了一种新型的基于SOPC的开放式机器人控制器;首先给出了广义开放式控制器的性能考量标准,然后结合SOPC技术可裁剪、可扩充、可升级的特性,分别从硬件层、系统层和应用层角度对该控制器的开放性进行了论证,最后通过一个应用实例验证了该控制器的可行性与可靠性;设计的基于SOPC的控制器为开放式机器人控制器的发展提供了一条新思路,具有一定的实用性和推广价值。
In allusion to the development trend of the Open Robot Controller （ORC） and the inherent defects of the traditional control-ler, we design a new SOPC-based ORC using a tiered way. Firstly, the assessment criteria of the generalized open-controllerrs perform-ance are presented. Secondly, we demonstrate the openness of the controller in terms of the hardware layer, system layer and application lay-er combining with SOPC＇s cuttable, expandable and scalable features. Lastly, this paper verifies the feasibility and reliability of the proposed new ORC by an application instance. SOPC-based controller designed in this paper carves out a new way for the development of ORC and has a certain practicability and promotional value.
出处
《计算机测量与控制》
北大核心
2013年第4期927-929,共3页
Computer Measurement &Control
基金
国家自然科学基金(60805034
61005062)
