Design of multiaxis motion controller and its application on manipulators

LIU Songguo1, ZHU Shiqiang2, WANG Huifang2
(1.Hangzhou Special Equipment Inspection Institute, Hangzhou 310003, China;
2.State Key Lab of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China)

Abstract: According to new developing requirements of CNC and manipulators, a motion controller with open architecture was designed based on DSP. The communication with the upper computer was realized through PCI bus, DSP and CPLD was used to achieve motion control of manipulators joints. The dynamic model of the manipulator was deduced, the neuron adaptive PID controller was designed, and servo control with high accuracy was achieved. Experiment results show that, the proposed system has nice openness, generality and portability, and higher trajectory tracking accuracy is gained with the advanced control algorith planted in it comparing to classical PID control.
Key words: motion controller; open architecture; manipulator; adaptive proportionintegralderivative(PID) control