Design of DSP-based Open Control System for Industrial Robot

Abstract

The closed structure of control system limits the flexibility and expandability of industrial robot. In order to improve the openess and transplant ability of the industrial robot control system, the DSP-based open industrial robotic control system is designed. The hardware and software are both designed in modular structure, which makes the system easy to maintain, expand and transplant. The fuzzy self-adjusting PID control & velocity and acceleration feedforward strategy is employed to improve the system's dynamic performance and the control precision. The dynamic link library (DLL) is developed with Microsoft Visual C++6.0 for the convenience of second development. Simulation shows the validity of the strategy adopted. The actual running proves that the system has good operating and dynamic performance, high control precision and perfect programming function, so it can meet the actual operating requirements completely.

A Reference-Pulse Generator for Motion Control System

“…With the rapid development of microprocessor technology, motion planning becomes flexible to employ [10]. In this section, we will discuss about the effective method to design a DSP-based motion planning module that can be applied for reference pulse generator.…”

“…In [8], a System-on-a Programmable-Chip (SoPC) with an embedded processor is implemented in FPGA to carry out motion profile generation and position control algorithm, while current vector control is performed in FPGA. This technology enables software and hardware co-design to be parallel processing, hence increases the system performance and flexibility [8]- [10]. However, all of above combinations are just developed in closed-loop control types.…”

Development of a Multi-DOF Robotic Controller for Academic Purposes

“…After reviewing several articles related to the rehabilitation of obsolete industrial robots, different configurations of HW/SW were found used by other authors in the development of controllers [6][7][8][9][10][11][12][13][14][15][16].…”