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2006•Control Engineering of ChinaRequires access

An Open Architecture Robot Controller Based on DSP and CPLD

Jiang Fu-dai

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Abstract

A type of open architecture robot controller based on DSP and CPLD is developed.This controller takes IBM-PC as the supervisory-controlled computer,and a DSP motion control card as the core to servo-control the four joints of the PR robot.It adopts PCI bus to communicate the two-stage controllers running at different speeds.This method realizes the robot real-time control.The system uses a self-adjusting fuzzy control algorithm in the servo controller,and improves the system control performance.The practical results show that the high speed real-time control is realized,the robustness is improved.

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What this paper is about

A type of open architecture robot controller based on DSP and CPLD is developed.This controller takes IBM-PC as the supervisory-controlled computer,and a DSP motion control card as the core to servo-control the four joints of the PR robot.It adopts PCI bus to communicate the two-stage controllers running at different speeds.This method realizes the robot real-time control.The system uses a self-adjusting fuzzy control algorithm in the servo controller,and improves the system control performance.The practical results show that the high speed real-time control is realized,the robustness is improved.

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Available abstract

A type of open architecture robot controller based on DSP and CPLD is developed.This controller takes IBM-PC as the supervisory-controlled computer,and a DSP motion control card as the core to servo-control the four joints of the PR robot.It adopts PCI bus to communicate the two-stage controllers running at different speeds.This method realizes the robot real-time control.The system uses a self-adjusting fuzzy control algorithm in the servo controller,and improves the system control performance.The practical results show that the high speed real-time control is realized,the robustness is improved.

Key concepts: Complex programmable logic device, Digital signal processing, Robot, Servo control, Motion control, Control engineering, Engineering, Controller (irrigation)

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