Design of a Modularized Dual-joint Servo Controller for Space Manipulator System
نویسنده
چکیده
In this paper, a design of modularized dual-joint servo controller on-chip for a space manipulator system is presented. All sensor information collection within the joints are obtained with FPGA hardware logic elements, and the joint space trajectory planning and position control are realized by Nios II soft-core processor, which is embedded in FPGA. Moreover, a dualredundant CAN bus Interface is designed to provide a highly reliable communication system between the joint controller and the trajectory planning computer of space robotic system. Experimental results demonstrate the effectiveness of the compact joint servo controller for the space manipulator system.
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