摘要
设计了一种基于FPGA的多舵机控制器,用于小型多关节机器人的控制中。其优点是精度高,通道数多、硬件扩展方便,并大幅减少了软件编程量。实验数据表明,该设计能够达到0.01°的角度分辨率。并可在一片EP1C3T100的FPGA上实现40路以上的舵机控制。
A multi-Rudder servo controller is designed based on FPGA, and it is able to be used on small robots with many joints. It is precise and easy to upgrade, and it reduces the workload of programming greatly. The data from experiments indicate that this design can drive the rudder servo at the resolution of 0.01 °. On a single chip of EP1C3T100, more than 40 channels can be synthetized.
出处
《科学技术与工程》
2009年第11期3083-3085,3089,共4页
Science Technology and Engineering
