| In this paper, we first give the definition of motion controller and introduce its development in domestic and abroad. Subsequently we also describe general structure of motion controller which is popular applied at the present time.On the base of analysis to the characteristics and performances of the various kinds of motion controllers, as well as the special request for humanoid robots, we put forward a solution based on the TMS320F240 chip and the standard of PC 104 bus. Methods of design and all details about software as well as hardware are narrated and discussed(include chip selection. power separated, peripheral circuit design based on CPLD, PWM signal generation and the software about digital PID control method etc ), final result of the experiments and the report of data analysis could be found in the end of this paper.This single motion controller could control 6 motors. It features in total digital signal, PLD for peripheral circuit and reserved interface about voice control as well as view control. All these features make it easy to upgrade.This project could also be applied as a signal collected card . |
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