2009•Journal of Shaanxi University of Science & TechnologyRequires access

RESEARCH ON CONTROLLER OF HANDLING ROBOT BASED ON INDUSTRIAL COMPUTER AND DSP

Cao Xi-jing

Abstract

The six degrees of freedom robot designed in this paper is a kind of industrial robot based on DSP technology,we select the two-level robot′s servo control system based on IPC and DSP as our system.The structure of the controller is expatiated from both hardware and software,Servo Control Card uses TMS320LF4207 of TI company as control core.Real-time motion control is taken charge by DSP chip and the non-real time motion control is taken charge by IPC.This kind of control mode is remarkable for its flexibility and stability which is used for high-precision servo control.

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Key concepts: Digital signal processing, Servo control, Motion control, Control engineering, Robot, Flexibility (engineering), Motion controller, Controller (irrigation)