Design of a Reconfigurable Robot Controller Based on FPGA

Abstract

With the development of the micro-electronics and computer technology, especially with the expansion of field programmable gate array (FPGA), the reconfigurable system technology is becoming the key issue of research and application. In this paper, the principle of the dynamically reconfigurable FPGA, the method and flow of the configurable design are introduced. Based on the application requirement of the modular reconfigurable robot (MRR), a designing method of reconfigurable robot controller is proposed, which is based on the Advanced RISC Machine (ARM) processor and FPGA. The design principle, internal logic function design and the design course of the reconfiguration method are presented. Finally, the experiments of the MRR prove the feasibility of the reconfigurable robot controller to different configuration requirement of MRR and the efficiency of the software and hardware resource.