基于国产FPGA加速的物流分拣机器人设计OA

In response to the demand for high real-time motion control and multi-axis collaborative precision optimization in the intelligent development of warehouse logistics robots,a logistics sorting robot system based on domestic FPGA acceleration has been designed and implemented.The core of this system lies in hardware-level optimization of key algorithms:utilizing a customized ISP module to process and achieve sorting target recognition,combined with a hardware-accelerated CORDIC algorithm to efficiently complete inverse kinemat-ics solution,ensuring accurate grasping by the robotic arm,employing a cascade PID algorithm integrated with Kalman filtering to gen-erate high-precision multi-channel PWM signals,driving the mobile platform to deliver accurately.Additionally,the system integrates touchscreen human-computer interaction functions and a dual-arm collaborative handling strategy based on LoRa communication and ul-trasonic ranging feedback.The experimental results show that the robotic arm's single operation cycle is optimized to 4 seconds,with a grasping accuracy rate of 90%,the mobile platform's positioning accuracy reaches the centimeter level,and the end-effector error of du-al-arm collaborative handling is less than 0.5 cm.This design provides a low-cost,high-reliability domestic solution for the logistics sor-ting field.