RISC-V 機械手臂控制系統晶片軟硬體共同設計

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姓名

周宏穎(HUNG-YING CHOU) 查詢紙本館藏

畢業系所

資訊工程學系在職專班

論文名稱

RISC-V 機械手臂控制系統晶片軟硬體共同設計
(Co-Design of Software and Hardware for RISC-V Robotic Arm Control System On a Chip)

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[完整記錄]

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至系統瀏覽論文 (2029-7-18以後開放)

摘要(中)

隨著工業自動化和智能製造的快速發展，高效、靈活且成本效益高的機械
手臂控制系統需求不斷增長。然而，現有商業控制系統價格高昂且靈活性不足，
難以滿足多樣化和快速變化的市場需求。因此本研究旨在開發一個基於 RISC-V
處理器的多軸機械手臂控制系統晶片開發平台，以實現智慧型機械手臂系統的
快速開發和佈署，並提出一種基於 RISC-V 開放指令集架構的解決方案，設計
並實現多軸運動控制擴充指令，這些指令能夠高效地驅動多軸運動控制硬體加
速器，顯著提升系統效能。
為提高開發效率，本研究使用 PLCopen 的 Beremiz 編輯器為中介軟體，將
運動控制邏輯轉換為 XML 格式的參數表，並由 GVM 虛擬機進行解析和執行。
在整體系統架構設計上，本研究採用 MIAT 系統設計方法論，通過模組化設計
提高系統的靈活性和可擴展性。
實驗結果表明，所開發的系統在使用 RISC-V 處理器的 FPGA 平台上執行
多軸同步控制時，相較於傳統的 ESP32 平台，效能提高了 1.75 倍。這證實了系
統在運動控制的精確度、響應時間和整體效能方面具有顯著優勢。本研究不僅
提供了一個高效、靈活且低成本的解決方案，還展示了 RISC-V 架構在機械手
臂控制領域的巨大潛力和應用前景。

摘要(英)

As industrial automation and intelligent manufacturing rapidly advance, the
demand for efficient, flexible, and cost-effective robotic arm control systems
continues to grow. However, existing commercial control systems are expensive and
lack flexibility, making it difficult to meet the diverse and rapidly changing market
needs. Therefore, this study aims to develop a multi-axis robotic arm control system
chip development platform based on the RISC-V processor, enabling rapid
development and deployment of intelligent robotic arm systems. The study proposes a
solution based on the RISC-V open instruction set architecture, designing and
implementing multi-axis motion control extension instructions. These instructions can
efficiently drive multi-axis motion control hardware accelerators, significantly
enhancing system performance.
To improve development efficiency, this study uses the PLCopen Beremiz editor
as middleware to convert motion control logic into XML format parameter tables,
which are parsed and executed by the GVM virtual machine. In the overall system
architecture design, this study adopts the MIAT system design methodology,
improving system flexibility and scalability through modular design.
Experimental results show that the developed system, when executing multi-axis
synchronous control on an FPGA platform using a RISC-V processor, achieved a 1.75
times performance improvement compared to traditional ESP32 platforms. This
demonstrates significant advantages in motion control accuracy, response time, and
overall performance. This study not only provides an efficient, flexible, and low-cost
solution but also showcases the tremendous potential and application prospects of the
RISC-V architecture in the field of robotic arm control.

關鍵字(中)

★ 機械手臂
★ 擴充指令

關鍵字(英)

★ RISC-V

論文目次

摘要 i
Abstract ii
誌謝 iii
目錄 iv
圖目錄 vii
表目錄 ix
第一章緒論 1
1.1 研究背景與動機 1
1.2 研究目的 3
1.3 論文架構 3
第二章相關技術回顧 4
2.1 PLCopen編輯器(Beremiz) 4
2.2 XML Parser 6
2.2.1 解析方法 7
2.3 GRAFCET 虛擬機器(GVM) 10
2.3.1 基本原理 12
2.3.2 虛擬平台架構 14
2.3.3 參數表(coding table) 14
2.4 RISC-V處理器 17
2.4.1 RISC-V指令集 19
2.4.2 指令擴充 24
第三章機械手臂運動控制系統晶片設計 26
3.1 系統架構 26
3.2 手臂控制程式編輯(A1) 27
3.2.1 動作功能方塊編譯(A11) 27
3.2.2 PLCopen運動控制指令函式庫 28
3.2.3 動作功能方塊解析(A12) 31
3.3 RISC-V處理器 32
3.3.1 RISC-V軟體執行程序 33
3.3.2 GVM 中介程式 33
3.3.3 運動控制擴充指令設計 39
3.4 多軸運動控制加速(A3) 41
第四章機械手臂製作3D列印 43
4.1 3D列印技術 43
4.1.1 技術概論 43
4.1.2 開源模組概述 44
4.1.3 製作平台 44
4.2 列印製作 46
4.2.1 製作說明 46
4.2.2 成品和應用測試 55
第五章系統驗證 57
5.1 開發環境 57
5.1.1 開發平台 57
5.1.2 開發版 58
5.1.3 ESP32開發版 60
5.1.4 機械手臂 61
5.1.5 邏輯分析儀 63
5.1.6 按鈕開關和通訊模組 64
5.2 應用情境 65
5.2.1 情境1-按鈕 66
5.2.2 情境2-感測器 71
5.3 實驗比較 76
第六章結論與未來展望 81
6.1 結論 81
6.2 未來展望 82
參考文獻 83

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指導教授

陳慶瀚(Ching-Han Chen)

審核日期

2024-7-18

推文