Robot Motion Control System Based On IPC And DSP

With the development and application of computer and DSP technology, robot-servo control technology has got great development. Firstly the paper introduces industrial robot's technology and the development and application of robot controller, gives study object and parameters.Then the paper discusses method of robot's kinematics and inverse kinematics and robot's control arithmetic mostly about PID control. Based on the compare of control theory, we select the two-level robot's control system based on IPC and DSP as our system. DSP Control Card and Servo Driver make up of junior servo control system, industrial PC composes superior control system. two-level system communicates with each other by PCI bus.Servo Control Card uses TMS320VC33 as control core, uses CPLD to design reversible counter, and uses DAC7725 as DA output chip, they compose close-loop control system of servo motor. Industrial PC fulfills robot's settings of parameter, controls of command, operational interface , complicated control arithmetic and so on. Subordinate mode chip PLX9052 is used for PCI bus connecting chip. WDM driver is programmed for PLX9052. Protocol is designed for communication between IPC and DSP Control Card. We make the servo interface board for signal conversion between DSP Control Card and Servo Drivers. We success makeing up of robot's control system for prepare of advanced study.