Based On Arm And Dsp's Multiple Degree Of Freedom Robot Motion Controller Research

This paper is based on the live working robot arm motion control system, after a thorough study of domestic servo motor controller, designed and developed based on ARM and DSP mode s multiple degrees of freedom robot motion controller. This controller can be used in the industrial productions which require on high for servo motor control, it has reliable performance and high-speed data processing capabilities. The controller is divided into two part, ARM board and DSP board, these two circuit boards are through the CAN bus communication. ARM board is mainly used for task management, data receiving and processing and coordination between axes. DSP board is responsible for the control of four motors and the implementation of control algorithm. This controller not only played an ARM with high stability and strong task management advantages, but also played a DSP for high-speed data exchange and fast digital signal processing capability.The main contents of this paper:1, According to the working principle of universal motion controller, determined the overall scheme of motion controller, designed an ARM+DSP motion controller and the main functions of the circuit unit were described.2, Acceleration and deceleration of the robot arm control and PID control were studied, and they were also realized. I analyzed the principle of trapezium acceleration and deceleration control, and it was realized in program design. In the experiment, I selected the PID control parameters by using engineering tuning.3, Completed the design of communication circuit for ARM board and DSP board, and programmed receive and send program which based on CAN bus.4, Programmed a number of common and portable interface functions.5, This controller was successfully tested in the live working robot prototype.