Research on an integral driving controller based on DSP for robot moving joints

A two-level controlling structure with a top core controller and a bottom moving controller for robot controlling system is brought out according to control demands of intelligent robot. Duties of the top level and the bottom level are to finish upload of joints information and orders of moving instruction based on CAN bus. The system mainly adopted high-speed DSP, IPM power intelligent module, photo-electrical encoder and DC motor to build a hardware circuit of the integral driving controller for robot moving joints and then the software design was finished. The simulation results show that the integral driving controller simplifies the levels relation, increasing response speed and total integration of robot system. The controller realizes driving control incorporation for robot´s moving joints.