An Open-Access Educational Tool for Teaching Motion Dynamics in Multi-Axis Servomotor Control

Servomotors are widely used in computerized numerically controlled (CNC) machines, hence motion control is a major topic covered in undergraduate/graduate engineering courses. Despite the fact that several syllabi include the motion dynamics topic in their courses, there are neither suitable tools available for designing and simulating multi-axis motion control nor an efficient link between theory and practice. This paper proposes an educational, open-source tool for teaching motion dynamics in multi-axis servomotor control. The tool allows students to generate multi-axis motion and export these movements for their application to a CNC machine. A simulation module is embedded for evaluating the controller performance. The proposed educational tool allows the use of the inductive pedagogic method to support student learning. Eleven lab practicals are described to show how the proposed tool can be utilized for the systematic teaching of motion dynamics.