关键词: 空间机器人, 计算机体系结构, 协处理器, 可编程门阵列, 纠检错, 运动学

Abstract: Space robot self-control required high processing capability, whereas traditional On-Board Computer (OBC) only had relatively low-performance in computation. To resolve this conflict, a new dedicated computer architecture based on the conventional processor and dedicated co-processor was presented. The hot & cold dual-redundant fault-tolerance backup strategy was adopted in this computer. And the dedicated co-processor based on Field Programmable Gate Array (FPGA）was applied to tackle the motion planning task of the space robot. The Error Detection and Correction (EDAC) memory was applied in this computer, and the algorithms of EDAC were optimized. Simulations and the ground experiments of prototype device validated the correctness and effectiveness of this design. The processing time of kinematics could be reduced by over two orders of magnitude and processing speed of the system was also improved.

Key words: space robot, computer architecture, co-processor, field programmable gate array, error detection and correction, kinematics