A real-time virtual manipulator simulation platform based on FPGA

摘要: The high-performance auxiliary manipulator has incomparable advantages for the rehabilitation training of people with dyskinesia. As tasks become more complex and real manipulators have high costs, researches on convenient low-cost simulation technology great significance. Traditionally, is mostly based software, which low efficiency application prospect not as wide hardware. Compared software simulation, field-programmable gate array (FPGA) shows especially in real-time simulation. In this paper, a proportional-derivative (PD) controller designed two-degree-of-freedom (2-dof) model, hardware implemented FPGA chip. By comparing MATLAB results implementation results, platform verified to be computational power, meets requirement high-speed control applications. This helpful patients by using mechanical devices potential field brain-computer interface (BCI).