The Design Of Motion Control System For Industrial Robot With Six Degrees Of Freedom Based By DSP And FPGA

Industrial robot motion controller is the brain of the industrial robot, and its performance affects the industrial robot precision and performance directly. At present most robot motion control system use general motion controller, its precision and real-time performance is low and can’t satisfy the complex movement control of industrial robots. This paper design a motion controller based on DSP and FPGA for six degrees of freedom of industrial robot. DSP contributes its powerful operation ability and FPGA has powerful logic control function, so that ensure the accuracy and real-time performance, make it possible to realize complex motion control algorithm, thus has important value in the field of robot motion control.Based on the theory of industrial robot kinematics and trajectory planning algorithm, analyze the requirements of motion controller design, then DSP and FPGA system architecture is proposed. First of all, design motion controller hardware system, including power supply module, communication module of PC and motion controller, communication module of DSP and FPGA, and servo control circuit module. Complete and debug the hardware circuit board, make sure that the hardware of motion controller stable and reliable. Next, on the basis of the hardware system, design the software system of motion controller, including the control algorithm in DSP, SRAM module test, dual ports RAM communication module based on FPGA, decoding incremental encoder module, stop spacing module and PWM output module. Finally, use MATLAB to simulate linear motion and arc motion respectively by trajectory planning algorithm, draw the trajectory of actuator at the end of the six degree of freedom industrial robot and six joint axis position and speed curve, and conduct experiments on the six degrees of freedom industrial robot. The experimental results are compared with simulation results, and it was proved that the motion controller designed by this paper can achieve expected function.