基于DSP和CPLD的开放式机器人控制器

An Open Architecture Robot Controller Based on DSP and CPLD

设计了一种新型的基于DSP和CPLD的开放式机器人控制器。该控制器以IBM-PC为上位计算机,用一块DSP运动控制卡对PR教学机器人的4个关节运动进行伺服控制,采用PCI总线进行上、下位机之间的通讯,实现双速率运行,较好地实现了机器人的实时控制。同时,在控制卡中采用参数自调整模糊控制算法,以提高系统控制精度和动态性能。实际应用表明,该控制器实现了机器人控制系统的高速率实时控制,增强了系统的鲁棒性和抗干扰能力,取得了良好的效果。

A type of open architecture robot controller based on DSP and CPLD is developed, This controller takes IBM-PC as the supervisorycontrolled 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 nmning 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.