中文摘要：

介绍了一种基于ARM（Advanced RISC Microprocessor）和FPGA（Field Programmable Gate Array）的嵌入式机器人运动控制器的可重构设计方法，给出了控制器的结构设计、功能设计和硬件设计，提出了由ARM微控制器通过JTAG配置FPGA的方法，以及介绍了嵌入式操作系统μC／OS-Ⅱ在控制器中的应用；充分利用ARM微处理器高速运算能力和FPGA的快速配置能力，大大减少了系统的外围接口器件，有效地降低了成本，提高了系统的集成度和灵活性，便于用户实现较为复杂的算法；实验表明，控制器性能可靠，能同时满足多轴电机运动控制的需要。

英文摘要：

Based on the combination of ARM （advanced RISC microprocessor） and FPGA （Field Programmable Gate Array）, an approach for developing embedded robot motion controller that can be restructured is introduced . The following issues were included： system structure, function and hardware design, the method of FPGA configuration with JTAG mode using ARM microcontroller and embedded operation system μC/OS-Ⅱ for controller application. By fully utilizing the high-speed calculation capability of the ARM and the configuration capability of the FPGA, the controller has less peripheral equipment, less cost, higher integration and flexibility. The experimental result indicates that the controller is reliable and meets the multi-motor control.