A design of multi-axis motion controller for welding robot based on DSP

Abstract

To satisfy the motion control for wielding robot, a design of multi-axis motion controller based on DSP is proposed in this paper. The hardware structure and the software structure are discussed in detail. The motion controller consists of three DSP control cards. There are two control units which can control two servo motors in one DSP control card. So the controller can control six servo motors at the same time. The motion controller can perform high accuracy and high velocity interpolation. It communicates with the upper computer through dual-port RAM. More axis controlling can be achieved by adding more DSP control cards with bus card. The absolute position is detected by motion controller. A variety of control mode can be achieved includes position control, velocity control and torque control. The interpolation algorithm is presented. The experiment data indicates that the motion controller has the advantages of good real-time performance and highly machining accuracy.