A Design Of Embedded Motion Control System For 4-Axis Robot

Along with the technological developments in microelectronics, computer and automation, industrial robot, so far, has been widely used. However, a fine, speedy and low-cost embedded motion controller with high density, good performance, and extensibility, is highly required for industrial robots in the future. Consequently, an extensible embedded four axis motion controller with speedy processing ability is designed and developed in this subject, and based on the above controller the embedded and remote operation software with directing, reappearance and graphical programming functions are developed to realize the control of the robot’s position of point and interpolation as well as its functions of teach programming and reappearance.The control system of the SCARA robot is taken to be the design subject of this paper. Based on the microprocessor of ARM Cortex-A8 as the main control chip, together with the appropriative chip PCL6045B, the hardware and software of the embedded four axis robot’s motion control system are well developed to achieve offline embedded control and remote teaching terminal control. Also GPMC data communication interface of AM335x and PCL5045, the voltage supply and types of circuit designs are included in the hardware system of the embedded Motion controller:conversion circuit design, reset circuit design, LCD display circuit design, serial port and Ethernet ports circuit design, and peripheral circuit design of motion control chip.The software system of the embedded motion controller of the robot is developed on the basis of the designed hardware and the embedded WinCE system. The transplantation of the embedded WinCE system into the embedded motion controller; the programming of the GPMC communication between AM335x and PCL6045B, USB, serial port, Ethernet and the the underlying driver of I/O under the WinCE system; and the development of the embedded core software of the embedded PC are all completed according to the function of software design. The software system of PC is based on a multitasking system which includes the basic software modules of track interpolation, teaching, and motion representation module; implements the command parsing, execution, and graphical handling of PC communication module; and file management module. At the same time, based on the GPMC’s communication module to act the real-time communication with PCL6045B robot to which each axis movement position, velocity and acceleration of robot in each control cycle are sent through GPMC transmission, so through PCL6045B robot to get the robot’s real-time motion state. In addition the PC remote operating software is designed in this paper which is designed to communicate with embedded PC software through the USB, serial port and Ethernet ports of the controller so that to realize the movement parameters settings of the controller, the robot motion monitoring as well as the robot’s teaching and reappearance function realizing.At the last, the experimental system of the embedded motion controller of the four axis robot, constructed by the embedded four axis motion controller, driver control cabinet and SCARA robot is designed to test the basic operation of the embedded four axis motion controller, and the motion function, such as the point, track interpolation and handling, of the SCARA robot. Experiments show that the designed embedded robot motion controller in this subject can control the movements of the SCARA robot and the PC control software can also direct the robot, write and debug the program.