Based On Dsp And Fpga, Four Joint Development Of The Laboratory Robot Controller

In robot research area, how effectively enhances the robot control system's control performance is always an important content which the scholars pay much attention to. After has analyzed the industry robot's development and the robot controller's present research situation, this article essentially targets establishing a new entirely digital robot position servo-control system based on the DSP and FPGA for the unique four joints laboratory robot, which possesses its own hardware and software control platform.This paper embarks upon the actual situation, firstly analyzes the four joints laboratory robot's body structure, then obtains its kinematics model. We studied and compared many feasible robot control system plans after has clearly realized the robot exact location servo-control theory, and finally decided to adopt the three-stage CPU control system structure: On the first stage is the personal computer, It realizes the administration, the co-control of the robot system as well as completes the robot's real-time path plan by using advanced control algorithm; The DSP processor of high performance is on the second stage, assisted by the ability of high speed and parallel processing of the FPGA chip, it makes the robot's four joints rotate parallel with high speed; On the third stage is the AC servo drivers, they make the robot's joint servo motors precisely controlled by the three closed loops controller, As well as carry out the functions of fault diagnosis and self-protection in motors. In addition, the PC and the DSP processor communicates with each other through USB port which has much quicker communication speed than UART port. The USB communication mode not only guarantees the communication's convenience, but also effectively enhances the control system's real time and reliability.Robot control system software design including two parts: The first part is the VC++ programme for realizing the robot control algorithm and the interaction between the user and the robot system in real-time; The another part is the C language programme on DSP who realizes the function of driving the robot motor by getting commands from PC orfrom the robot control box, and the function of feeding back robot's real-time location and status information.According to the above design, we worked out the robot control system and found it has a very good real time property, high position precision, stability and reliability. It allows the user to control the robot not only by operating on the PC, but also by using the robot control box of the robot.