Title: An Open Architecture Robot Controller Based on DSP and CPLD
Abstract: A type of open architecture robot controller based on DSP and CPLD is developed.This controller takes IBM-PC as the supervisory-controlled 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 running 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.
Publication Year: 2006
Publication Date: 2006-01-01
Language: en
Type: article
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Cited By Count: 1
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