CAJ | 학술논문

针对模块化机器人控制，提出一种基于FPGA的片上多核主控制器设计方案。利用SOPC技术在单一芯片上设计两个完全不同结构的核心：NiosII软核处理器和协处理器。详细介绍了机器人控制的路径规划流程、NiosII软核体系、协处理器的构架及接口以及基于SOPC的片上多核系统实现。实验结果验证了多核主控制器设计的可行性。
침대모괴화궤기인공제，제출일충기우FPGA적편상다핵주공제기설계방안。이용SOPC기술재단일심편상설계량개완전불동결구적핵심：NiosII연핵처리기화협처리기。상세개소료궤기인공제적로경규화류정、NiosII연핵체계、협처리기적구가급접구이급기우SOPC적편상다핵계통실현。실험결과험증료다핵주공제기설계적가행성。
Aiming at modular robot control,this paper proposes on chip multicore main controller design based on FPGA. It uses SOPC technology to design two cores with completely different structure in one chip. They are Nios II soft core processor and coprocessor. This paper describes the path planning process of robot control, Nios II soft core system, the coprocessor architecture and interface and onchip multicore system based on SOPC. Experimental results demonstrate the feasibility of the multicore main controller design.