SOPC-based spatial rope-tied robot control system and method

The invention discloses a SOPC-based spatial rope-tied robot control system and method. The system comprises a FPGA module. The FPGA module comprises a processor, and PIO peripheral equipment and an UART core which are connected with the processor. The PIO peripheral equipment is connected with a jet propulsion device through an universal I/O. The UART core is connected with a measuring system through a CAN communication network so as to acquire dynamics and kinematics information of a spatial rope-tied robot on a real-time basis. The UART core is connected with a dynamics simulation system through an RS232 interface so as to receive ideal dynamics and kinematics information. The UART core is in communication with a spatial carrying platform simulation system through an external wireless module so as to receive instructions of the spatial carrying platform. According to the invention, advantages of high integration degree, small size, good software portability, short development period and easy upgrade can be realized, and a Nios II system embedded into the FPGA can be customized. Thus, the system and method can be used in the ground experiments of the spatial rope-tied robot.