| dc.description.abstract | 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. | en_US |