Title :
Development of PCI-based Multi-Axis Controller for a 3-DOF Manipulator
Author :
Chen, Weihai ; Wu, Xingming ; Yu, Shouqian ; Liu, Quan
Author_Institution :
Sch. of Autom. Sci. & Electr. Eng., Beijing Univ. of Aeronaut. & Astronaut.
Abstract :
This paper introduces the characteristics of a multi-axis control system based on PCI bus. To reduce the workload from host computer and utilizing the intelligence of DSP efficiently for a complex task, the developed controller is designed with master-slave structure. The controller is also suitable for standalone application to satisfy users´ requirements to some applications. The hardware development is focused on multi-axis controller chipset, PCI local bus control logic, and PCI bus design; these parts are key technologies for a PCI-based controller design. To verify the performance of the developed controller, a decoupled 3-DOF manipulator is used to follow a spatial screw trajectory and a plane circle trajectory respectively, the high position precision of plane trajectory has been tested by micrometer, it hints the developed multi-axis controller can realize a near-real-time coordinated motion control
Keywords :
manipulators; motion control; peripheral interfaces; robot kinematics; DSP chip; PCI bus design; PCI local bus control logic; PCI-based multiaxis controller; decoupled 3-DOF manipulator; master-slave structure; multiaxis controller chipset; near-real-time coordinated motion control; plane circle trajectory; robot kinematics; spatial screw trajectory; Application software; Control systems; Digital signal processing chips; Fasteners; Hardware; Intelligent structures; Logic design; Master-slave; Motion control; Testing; Multi-axis controller; PCI bus; robot kinematics;
Conference_Titel :
Robotics, Automation and Mechatronics, 2006 IEEE Conference on
Conference_Location :
Bangkok
Print_ISBN :
1-4244-0024-4
Electronic_ISBN :
1-4244-0025-2
DOI :
10.1109/RAMECH.2006.252738
