The design and realization of motion controller for truss robot

Abstract

Truss robot has been widely used in the field of industry. In consideration of the features of truss mechanism, and after deep analysis the characteristics of TMS320F28335 DSP chip of TI EP4CE10E22C8 FPGA chip of Altera, the paper presents a design and realization of motion control solution based on DSP and FPGA. This controller can meet the real-time response and precision as the system needs. The paper introduces the hardware structure of the control system, and also illustrates the functions of different modules. The control algorithm of DSP and FPGA is explained, respectively, including the flow chart and block diagram of the software system. The fine interpolation module, PI controller, encoder acquisition module which are implemented in FPGA are also introduced in the paper. Eventually, the simulation results and the hardware platform are presented.