Research On Open Architecture Robot Motion Controller Based On DSP And FPGA

Open-archicture robot motion control system based on “PC+motion controller” is ableto take full advantage of the high degree of openness, good versatility, high processingcapacity of PC and the fast computing speed, real-time performance, and high controllingcapacity of motion controller, therefore developed rapidly to become the research focus.However, the motion controller used in the open-archictue robot motion control system withthis structure, self-designed by motion controller researchers or supplied by motion controllersuppliers, shows some problems on versatility, reconfigurable ability of hardware andsoftware that affects the openness of the robot motion control system.Therefore, this paper makes the overall design of the open-archicture robot motioncontroller based on DSP+FPGAafter studying the structural characteristics of the open robotmotion controller. According to the proposed design, designed and implementedopen-archicture robot motion controller based on DSP+FPGA, and then study the coremotion control algorithm based on the designed open-archicture robot motion controller.By taking full advantage of high-speed digital signal processing capabilities of DSP andpowerful concurrency control capabilities and abundant logic resources of FPGA, the motioncontroller obtains higher computing and control ability. By taking full advantage of the logicprogramming capability of FPGA instead of integrated chip to implement logical connection,the hardware and software of the motion controller is reconfigurable, and so the openness ofthe robot motion controller is improved. And the curve fitting pretreatment technology as wellas the speed of forward-looking technologies improves the efficiency of the control of themotion controller, to obtaion high-speed motion control.The main work is as follows:(1) Fully study the structural characteristics of open-archicture robot motion controller,design the overall program of the open-archicture robot motion controller on the base needs ofrobot motion control.(2) According to the general scheme of the motion controller module division, completemotion controller hardware design.(3) Study core motion control algorithm based on motion controller designed.(4) Build motion control platform, verify the functionality and performance of themotion controller through a series of experiments.