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Acceleration of Parallel Robot Trajectory Generation in FPGA

机译:FPGA中并联机器人轨迹生成的加速

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A trajectory generator is one of the most important part of CNC (Computer Numerical Control) machine control systems. It has to ensure the smooth tool movement and feed rate changes, which can be done with a limit imposed on the jerk. The paper presents an application of field programmable gate arrays (FPGA) to accelerate calculations needed for trajectory generation from G-code for a three axes parallel milling robot. The paper shows how to decrease the calculation time, preserving required accuracy, by augmenting the arithmetic-logic unit (ALU) of a microprocessor with custom instructions. The hardware implementation of the accelerator is described and results of calculations performed in an Altera FPGA chip are analyzed.
机译:轨迹发生器是CNC(计算机数控)机器控制系统中最重要的部分之一。它必须确保平滑的工具运动和进料速率发生变化,这可以通过施加在混蛋上的限制来完成。本文提出了现场可编程门阵列(FPGA)的应用,以加速来自G码的轨迹生成所需的计算,用于三个轴平行铣削机器人。本文通过使用自定义指令增强微处理器的算术逻辑单元(ALU),如何降低计算时间,保持所需的精度。描述了加速器的硬件实现,并分析了在Altera FPGA芯片中执行的计算结果。

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