Development And Application Of Embedded Multi-axes Motion Controller

A motion Controller usually dominates in a motion control system. As themotion control technologies progress continually and achieve maturation, thedevelopment of open architecture, high performance, low cost and general-purpose embedded motion controllers become the inevitable demand of themarket. The main aim of this thesis is to establish a kind of software andhardware platform of high performance, low cost and general purpose embeddedmotion controller, which suites for numerical control and robot control. Thisthesis mainly achieves the following four results.Firstly, several motion controller solutions are compared with each otherafter research of the motion control systems. Then this thesis presents anembedded multi-axes motion general-purpose controller solution based onembedded ARM MCU and delicated DSP chip for motion control, which suitesfor numerical control and robot control.Secondly, the hardware architecture of motion control is planned out. Thehardware of motion control based on MCX314A and ARM MCU is designed.And then the method to operate MCX314A is researched .The basic software ofmotion control is designed.Thirdly, the method how to apply the motion controller to milling machinereform is researched. The milling machine can perform the CNC code andachieve the code effect.Finally, the application method how to apply the motion controller to TF-1robot is researched. The structure of TF-1 robot is analyzed and a replaceablestrategy is presented. The positive and inverse kinematics solution is obtained.And then the software and hardware of TF-1 robot under teach-play mode isdesigned.