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

擬真鋼琴機器人之分散式控制模組設計

黎燕芳(Yen-Fang Li)

《中國機械工程學刊》 34卷2期 (2013/04) Pp. 143-150

摘要

簡單友善之人機操作介面，智慧型控制運算，高效能控制與驅動電路以及精準可靠之機構系統為樂曲演奏型機器人設計之必備功能。本文提出結合主控制器(PC)與區域控制器(FPGA)之階層式控制架構設計擬真鋼琴機器人之控制系統。並以平行控制方法設計此機器人之兩手與十指之控制與驅動電路。為簡化主控制器之程式運算與增加整理系統之控制效能，兩隻手掌（線性馬達）與十隻手指（伺服機）動作驅動馬達之控制與驅動訊號將由FPGA電路製作之區域控制器負責完成。主控制器之角色是負責整體機器人系統之整合控制，將演奏樂曲之音樂碼編碼後下傳區域控制器以進行實際掌、指機構系統之動作控制。此區域控制器即是FPGA控制器又稱為分散式控制模組。當區域控制器接收到主控制器傳來之控制碼後，將迅速進行兩手掌移動位置、十指旋轉角度以及十指彈琴指令之解碼運算進而產生個別致動器之驅動控制信號，完成各掌、指動作馬達之獨立運動控制。此FPGA分散式控制器已成功應用於擬真鋼琴機器人之動作控制。

並列摘要

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.

並列關鍵字

piano robot ； FPGA controller ； linear motor ； hierarchical control ； distributed control