FPGA-Based Distributed Control Module Design for Music Playing Robot-Applied to the Anthropomorphic Piano Robot Control

摘要

Simple and friendly operation panel, intelligent algorithm, high performance control and driving circuit and precision and reliable plant are the necessary conditions for music playing robot design. In this paper, a hierarchical control structure, host controller (PC) and local controller (FPGA), is proposed to implement the anthropomorphic piano robot control with parallel controlling of two hands and ten fingers. In order to simplify the programming on the host controller and increase the performance of the whole system, the actuators of the hands (linear motors) and fingers (servo motors) are controlled and driving by local controllers, the FPGA-based controllers. The host PC is in charge of to integrate and encode the music codes of playing music to command the robot via the local controller, namely FPGA controller or distributed control module. After the codes receiving, the controller will quick decode the commanding such as the position of two hands, opening angle of ten fingers and key beating of ten fingers to control the driving circuits of actuators of the hands and fingers. Also, the FPGA distributed control modules have been applied to the anthropomorphic piano robot successfully.