人体外骨骼控制器硬件设计

Exoskeleton robot controller hardware design

摘要:

为了适应外骨骼机器人的发展需求,设计了一款可以实现外骨骼控制的控制器,该控制器采用以PowerPC芯片为核心,FPGA芯片为辅的硬件设计,文中详细说明了各个模块的设计思想及外围接口电路的设计,由于PowerPC芯片较高的内部集成了多种功能,以及在平台中加入了以FPGA来集中控制各个接口,因此可以实现多个传感器接口信号采集和控制,并使用实时操作系统对各个传感器信号处理和控制。该控制器具有运算速度快,扩展方便,可靠性较高的特点。

Abstract:

In order to adapt the develop of exoskeleton robot,we design a controller for exoskeleton robot,the hardware system which is based on PowerPC,and using the FPGA to assist itself.The article introduce the design idea of each module and the interface design.Because of the PowerPC integrated with much function and hardware system involved FPGA to control all the interface.It can realize variety sensor signal acquisition and control,beside these it also can use real-time operating system to handle with each sensor signal.It is simple in high speed of operation,convenient to extend and outstanding reliable.