Research On Robot Arm Controller And Its Trajectory Planning Based On DSP

With the consumer market requirements for personalized products,monotonous products are becoming more and more difficult to meet customer needs,thus promoting the manufacturers for flexible production line.And the mechanical arm as the core equipment of flexible production line,in Chinese,the market has been to several foreign robot vendors have been monopolized.This is one of the short board is the title of a manufacturing country.The company with its own advantages and production needs,decided to develop the industrial robot project,our contributions to the development of equipment industry.The research target of this product is to provide flexibility for the programmable device manufacturers,the industry Workers liberated from the handling,assembly,welding and so on,to improve labor productivity.This paper presents the scheme of hardware platform based on ARM+DSP+FPGA,the system is stable and reliable,flexible configuration of.ARM is mainly responsible for file management,user program,scheduling,communication,real-time system,DSP is mainly responsible for the path,path,position control,FPGA with its powerful logic control function for logic processing related to the GSK-Link protocol.Focusing on the manipulator trajectory planning in Cartesian space,including straight line,circular arc trajectory planning,and on the basis of continuous linear,continuous circular arc path,rail line arc and arc line.Trace interpolation trajectory planning planning.This paper includes rough interpolation and fine interpolation in two stages,the coarse interpolation using timing interpolation,16 ms interpolation cycle using S type deceleration control method,discrete points interpolation to obtain the rough interpolation spline fitting,then every 2ms FPGA to send a data information this makes the speed smooth,continuous mechanical arm,continuous acceleration.Using Microsoft Visual Studio 2008 programming environment,using C language for path planning based on the interpolation algorithm for trajectory planning program will then run the import data obtained by the MATLAB program,draw the curve,verify the feasibility of the algorithm.