Current Sampling Design of Six-Axis Robot Servo System Based on FPGA

Abstract

Multi-axis and modularization have become the development trend of robot servo systems. Current sampling module is an important module in the robot servo system. Its real-time capability and synchronization directly affect the dynamic performance of the system. A current sampling scheme for a six-axis robot servo system consisting of Hall current sensors, a dual-AD sampling chip AD7266 and an FPGA was proposed, which significantly reduced the sampling time while ensuring simultaneous sampling of two-phase currents by the motor. Finally, the feasibility of the scheme was tested by testing the current-loop performance of the system.