ABB DSQC679_3HAC028357-001 控制器模块是机器人系统的核心，国外有关公司对我国实行严密封锁。近年来随着微电子技术的发展，微处理器的性能越来越高，而价格则越来越便宜,目前市场已经出现了1 -2美金的32位微处理器。高性价比的微处理器为机器人控制器带来了新的发展机遇，使开发低成本、高性能的机器人控制器成为可能。为了保证系统具有足够的计算与存储能力，目前机器人控制器多采用计算能力较强的ARM系列、DSP系列、POWERPC系列、 Intel系列等芯片组成。此外，由于已有的通用芯片在功能和性能上不能完全满足某些机器人系统在价格、性能、集成度和接口等方面的要求,这就产生了机器人系统对SoC SystemonChip技术的需求，将特定的处理器与所需要的接口集成在-起，可简化系统外围电路的设计,缩小系统尺寸，并降低成本。例如,Actel公司将NEOS或ARM7的处理器内核集成在其FPGA产品上，形成了-一个完整的SoC系统。在机器人运动控制器方面，其研究主要集中，并有成熟的产品，其运动控制器以DSP技术为核心，采用基于PC的开放式结构。
DSQC679_3HAC028357-001
DSQC679_3HAC028357-001
ABB DSQC679_ The 3HAC028357-001 controller module is the core of the robot system, and foreign companies have implemented strict lockdowns on China. In recent years, with the development of microelectronics technology, the performance of microprocessors has become increasingly high, while prices have become cheaper. Currently, 32-bit microprocessors priced at 1-2 US dollars have appeared in the market. High cost-effective microprocessors have brought new development opportunities for robot controllers, making it possible to develop low-cost, high-performance robot controllers. In order to ensure that the system has sufficient computing and storage capabilities, current robot controllers are mostly composed of ARM series, DSP series, POWERPC series, Intel series and other chips with strong computing power. In addition, due to the fact that existing general-purpose chips cannot fully meet the requirements of certain robot systems in terms of price, performance, integration, and interface, this has led to a demand for SoC SystemonChip technology in robot systems. Integrating specific processors with the required interfaces can simplify the design of system peripheral circuits, reduce system size, and lower costs. For example, Actel integrated NEOS or ARM7 processor cores into its FPGA products, forming a complete SoC system. In terms of robot motion controllers, research is mainly focused and there are mature products available. The motion controllers are based on DSP technology and adopt an open architecture based on PC.
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