博碩士論文 111552018 詳細資訊

本論文永久網址:   


以作者查詢圖書館館藏 以作者查詢臺灣博碩士 以作者查詢全國書目 勘誤回報 、線上人數:35 、訪客IP:18.219.63.108
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)
相關論文
★ 整合GRAFCET虛擬機器的智慧型控制器開發平台★ 分散式工業電子看板網路系統設計與實作
★ 設計與實作一個基於雙攝影機視覺系統的雙點觸控螢幕★ 智慧型機器人的嵌入式計算平台
★ 一個即時移動物偵測與追蹤的嵌入式系統★ 一個固態硬碟的多處理器架構與分散式控制演算法
★ 基於立體視覺手勢辨識的人機互動系統★ 整合仿生智慧行為控制的機器人系統晶片設計
★ 嵌入式無線影像感測網路的設計與實作★ 以雙核心處理器為基礎之車牌辨識系統
★ 基於立體視覺的連續三維手勢辨識★ 微型、超低功耗無線感測網路控制器設計與硬體實作
★ 串流影像之即時人臉偵測、追蹤與辨識─嵌入式系統設計★ 一個快速立體視覺系統的嵌入式硬體設計
★ 即時連續影像接合系統設計與實作★ 基於雙核心平台的嵌入式步態辨識系統
檔案 [Endnote RIS 格式]    [Bibtex 格式]    [相關文章]   [文章引用]   [完整記錄]   [館藏目錄]   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
參考文獻 [1] B. Lal, V. S. N, M. A. Kumar, N. Chinthamu and S. Pokhriyal, "Development
of Product Quality with Enhanced Productivity in Industry 4.0 with AI Driven
Automation and Robotic Technology," 2023 Second International Conference
on Augmented Intelligence and Sustainable Systems (ICAISS), Trichy, India,
2023, pp. 184-189, doi: 10.1109/ICAISS58487.2023.10250736.
[2] C. Park, J. H. Kyung, T. -Y. Choi, H. M. Do, B. -I. Kim and S. -H. Lee,
"Design of an industrial dual arm robot manipulator for a Human-Robot
hybrid manufacturing," 2012 9th International Conference on Ubiquitous
Robots and Ambient Intelligence (URAI), Daejeon, Korea (South), 2012, pp.
616-618, doi: 10.1109/URAI.2012.6463097.
[3] A. M. Zanchettin, N. M. Ceriani, P. Rocco, H. Ding and B. Matthias, "Safety
in human-robot collaborative manufacturing environments: Metrics and
control," in IEEE Transactions on Automation Science and Engineering, vol.
13, no. 2, pp. 882-893, April 2016, doi: 10.1109/TASE.2015.2412256.
[4] M. Moghaddam, S.Y. Nof, Parallelism of pick-and-place operations by multigripper robotic arms, Robot. Comput.-Integr. Manuf. 42 (2016) 135–146.
[5] R. K. Malhan, S. Thakar, A. M. Kabir, P. Rajendran, P. M. Bhatt and S. K.
Gupta, "Generation of Configuration Space Trajectories Over SemiConstrained Cartesian Paths for Robotic Manipulators," in IEEE Transactions
on Automation Science and Engineering, vol. 20, no. 1, pp. 193-205, Jan. 2023,
doi: 10.1109/TASE.2022.3144673.
[6] M. P. Lapierre and C. Gosselin, "A Parallel SCARA Robot With LowImpedance Backdrivability and a Remotely Operated Gripper With Unlimited
Rotation," in IEEE Robotics and Automation Letters, vol. 9, no. 4, pp. 3980-
84
3987, April 2024, doi: 10.1109/LRA.2024.3374170.
[7] F. Cao, Y. Li, G. Zhang, J. Wang, X. Chen and Y. Zhao, "Novel humanoid
dual-arm grinding robot," 2016 12th IEEE/ASME International Conference on
Mechatronic and Embedded Systems and Applications (MESA), Auckland,
New Zealand, 2016, pp. 1-6, doi: 10.1109/MESA.2016.7587185.
[8] W. Kornmaneesang, S. -L. Chen and S. Boonto, "Contouring Control of an
Innovative Manufacturing System Based on Dual-Arm Robot," in IEEE
Transactions on Automation Science and Engineering, vol. 19, no. 3, pp.
2042-2053, July 2022, doi: 10.1109/TASE.2021.3073423.
[9] 鄭喬文, "整合可程式邏輯控制與機器視覺的 PLCopen 開發平台", 資訊
工程所, 國立中央 大學, 2017.
[10] A. Waterman, Y. Lee, R. Avizienis, H. Cook, D. Patterson and K. Asanovic,
"The RISC-V instruction set," 2013 IEEE Hot Chips 25 Symposium (HCS),
Stanford, CA, USA, 2013, pp. 1-1, doi: 10.1109/HOTCHIPS.2013.7478332.
[11] E. Cui, T. Li and Q. Wei, "RISC-V Instruction Set Architecture Extensions: A
Survey," in IEEE Access, vol. 11, pp. 24696-24711, 2023, doi:
10.1109/ACCESS.2023.3246491.
[12] R. Serrano et al., "A Low-Power Low-Area SoC based in RISC-V Processor
for IoT Applications," 2021 18th International SoC Design Conference
(ISOCC), Jeju Island, Korea, Republic of, 2021, pp. 375-376, doi:
10.1109/ISOCC53507.2021.9613880.
[13] D. Mallasén, R. Murillo, A. A. D. Barrio, G. Botella, L. Piñuel and M. PrietoMatias, "PERCIVAL: Open-Source Posit RISC-V Core With Quire
Capability," in IEEE Transactions on Emerging Topics in Computing, vol. 10,
no. 3, pp. 1241-1252, 1 July-Sept. 2022, doi: 10.1109/TETC.2022.3187199.
85
[14] Y. -M. Kuo, M. F. Flanagan, F. Garcia-Herrero, Ó . Ruano and J. A. Maestro,
"Integration of a Real-Time CCSDS 410.0-B-32 Error-Correction Decoder on
FPGA-Based RISC-V SoCs Using RISC-V Vector Extension," in IEEE
Transactions on Aerospace and Electronic Systems, vol. 59, no. 5, pp. 5835-
5846, Oct. 2023, doi: 10.1109/TAES.2023.3266314.
[15] A. Boutros and V. Betz, "FPGA Architecture: Principles and Progression,"
in IEEE Circuits and Systems Magazine, vol. 21, no. 2, pp. 4-29,
Secondquarter 2021, doi: 10.1109/MCAS.2021.3071607.
[16] "PLCopen Editor", PLCopen Editor, [Online]. Available: https://beremiz.org/ .
[17] Dabbs and Sabin, "Employing Extensible Markup Language (XML) in IEEE
Std 1159.3-2002 PQDIF," 2005/2006 IEEE/PES Transmission and
Distribution Conference and Exhibition, Dallas, TX, USA, 2006, pp. 370-375,
doi: 10.1109/TDC.2006.1668521.
[18] C.-H. Chen, M.-Y. Lin, Y.-C. Shih, and C.-C. Chen, “High-precision time
synchronization chip design for industrial sensor and actuator network,”
Microprocessors Microsyst., vol. 91, Jun. 2022, Art. no. 104507.
[19] M. Zaid and P. Mustajab, "Design and application of RISC processor," 2017
International Conference on Multimedia, Signal Processing and
Communication Technologies (IMPACT), Aligarh, India, 2017, pp. 242-246,
doi: 10.1109/MSPCT.2017.8364013.
[20] P. Chow, "RISC-(reduced instruction set computers)," in IEEE Potentials, vol.
10, no. 3, pp. 28-31, Oct. 1991, doi: 10.1109/45.127642.
[21] "The RISC-V Instruction Set Manual, Volume I: UserLevel ISA, Version 2.1",
from RISC-V . [Online]. Available:
https://www2.eecs.berkeley.edu/Pubs/TechRpts/2016/EECS-2016-118.pdf
86
[22] 鍾頤安, "PLCopen XML 解析器設計及其在機械手臂控制應用", 資訊工
程所, 國立中央 大學, 2017.
[23] P. Sivasankaran and B. Radjaram, "3D Printing and Its Importance in
Engineering - A Review," 2020 International Conference on System,
Computation, Automation and Networking (ICSCAN), Pondicherry, India,
2020, pp. 1-3, doi: 10.1109/ICSCAN49426.2020.9262378.
[24] "EEZYbotARM ", from GHIZmo . [Online]. Available:
https://www.instructables.com/EEZYbotARM/
[25] "Flsun V400", from 飛行海工坊. [Online]. Available: https://www.3donion.com/buy/main_products.php?pid=2451
[26] "Terasic T-Core ", from Terasic . [Online]. Available:
https://www.terasic.com.tw/cgibin/page/archive.pl?Language=Taiwan&CategoryNo=219&No=1240
[27] "ESP32 開發板", from 傑森創工. [Online]. Available:
https://www.jmaker.com.tw/products/nodemcu-esp32s
[28] "MG90S 伺服機", from 飆機器人(至盛科技有限公司). [Online]. Available:
https://shop.playrobot.com/
[29] "Kingst LA1010 USB 邏輯分析儀", from 電世界. [Online]. Available:
https://shopee.tw/%E2%97%80%E9%9B%BB%E4%B8%96%E7%95%8C%
E2%96%B6Kingst-LA1010-USB-
%E9%82%8F%E8%BC%AF%E5%88%86%E6%9E%90%E5%84%80-
16%E9%80%9A%E9%81%93-
100M%E5%8F%96%E6%A8%A3%E7%8E%87%E5%8F%AF%E8%AA%B
F%E9%96%BE%E5%80%BC-930-1--
i.73738626.7828872096?sp_atk=eb43258f-b102-408a-b1cd-
87
162ede186105&xptdk=eb43258f-b102-408a-b1cd-162ede186105
[30] "按鈕開關", from 集賢科技. [Online]. Available: https://knowingtech.com/product/push-o10-1/
[31] "紅外線避障模組", from 台灣智能感測科技有限公司. [Online]. Available:
https://www.taiwansensor.com.tw/product/%E7%B4%85%E5%A4%96%E7%
B7%9A%E9%81%BF%E9%9A%9C%E6%A8%A1%E7%B5%84-
%E9%81%BF%E9%9A%9C-
%E8%BF%91%E6%8E%A5%E9%96%8B%E9%97%9C-
%E6%84%9F%E6%87%89%E8%B7%9D%E9%9B%A2%E5%8F%AF%E8
%AA%BF/
[32] D. Patterson, J. Hennessy, "Computer Organization and Design RISC-V
Edition", from Morgan Kaufmann . [Online]. Available:
https://github.com/QSCTech/zjuicicles/raw/master/%E8%AE%A1%E7%AE%97%E6%9C%BA%E7%BB%8
4%E6%88%90/%E6%95%99%E6%9D%90/Computer_Organization_RiscV_
Edition_5th.pdf
指導教授 陳慶瀚(Ching-Han Chen) 審核日期 2024-7-18
推文 facebook   plurk   twitter   funp   google   live   udn   HD   myshare   reddit   netvibes   friend   youpush   delicious   baidu   
網路書籤 Google bookmarks   del.icio.us   hemidemi   myshare   

若有論文相關問題,請聯絡國立中央大學圖書館推廣服務組 TEL:(03)422-7151轉57407,或E-mail聯絡  - 隱私權政策聲明