Development of an industrial robot controller with open architecture

Abstract

This paper proposed a design and implementation method for industrial robot controller with open architecture. It is based on dual MCUs and FPGA, aiming at solving the problem of closure in general robot controllers. This open controller uses FPGA as a bridge, through which two MCUs realize data-sharing and collaborative control. The main MCU partly open to the users and the auxiliary MCU fully open. Finally, the performance of the controller is tested through the linear interpolation trajectory positioning accuracy experiment on the Kawasaki RA10N robot, and the result shows that it can satisfy the design requirements.