七自由度数据臂多轴伺服运动控制器设计

Design on the multi-axle servo-movement controller in the 7 DOF data arm

介绍了一种采用ARM处理器以及FPGA设计的7轴电机伺服运动控制器在数据臂平台上的应用。与采用传统的MCU设计的多轴电机伺服运动控制器相比,该控制器具有较高的集成度和灵活性,便于用户实现较为复杂的算法。试验表明,该控制器能够满足多轴电机伺服运动控制的需要。在面向遥操作的7自由度数据臂平台中,将该控制器应用于关节数据采集和力反馈控制系统中,实现了多关节数据的实时采集和力反馈电机即时动作。该运动控制器可以应用在各类型机器人、医疗设备及数控机床等控制系统设计中。

A kind of 7-axle motor-servo movement controller, which adopts ARM processor and the FPGA design, was introduced for its application on the data arm platform. When compared with the traditional multi-axle motor-servo movement controller designed by MCU, it shows that this controller possesses fairly high integration and flexibility and is convenient for the user to achieve comparatively complicated algorithms. Experiment indicates that this controller could satisfy the requirement of multi-axle motor-servo movement controller. In the remote-operation oriented 7DOF data arm platform, let this controller be applied to data collection of joints and force feedback controlling system, so as to realize the real-time collection of multi-joint data and the instantaneous movement of force feedback motor. This controller can be applied to the design of controlling systems for various kinds of robot, medical device and data controlled machine tools.