Multiple axes servo motion control device

Abstract

The present invention discloses a multishaft motor servomovement control equipment, it adopts computer plugging card structure, and utilizes ISB bus to implement contact with PC computer and implement servo control of 9 motors, at the same time, implement acquisition of 12 lines of analog sensing signal. It contains motor control DSP circuit, motor interface circuit, shared memory, accessory interface circuit and sensor signal. The motor control DSP circuit can utilize motor interface circuit to sample motor corner signal and motor limit signal and utilize A / D conversion circuit to sample sensing signal, after they are calculated by main control module, it can utilize PWM output circuit to output motor servo signal or utilize digital I / O circuit of motor interface circuit to output motor switch control signal to implement motor control.

Description

technical field [0001] The invention relates to a position servo control of a multi-axis motor based on a PC computer, more specifically, a servo motion control device for a multi-axis motor. Background technique [0002] Compared with other robots and CNC machine tools, one of the biggest characteristics of the robot dexterous hand is the large number of motors and various joint combinations, usually 9 to 18 axes. For this reason, its motion controller needs sufficient data computing power. Due to the limited computing power of conventional CPUs, more CPUs are needed, resulting in a complex structure of the motion controller, a large volume, and a decrease in integration. In recent years, with the improvement of cost performance and stability of digital signal processor DSP (Digital Signal Processor), its application in control is also expanding rapidly. In order to improve the integration of the dexterous hand motion controller, the DSP-based ...

AI Technical Summary

Problems solved by technology

However, because the current commercial DSP motion controller adopts a general-purpose DSP design, more peripheral interface devices must be added, the structure is complex, the cost is high, and the integration level is low, and the motor configuration of 4, 8, and 16 is not suitable for grouping and realizing various Dexterous hand with 9 or 17 or 18 degrees of freedom

For this reason, dexterous hands such as U.B.II of Italy, DLR of the German Aerospace Center have designed special-purpose DSP motion controllers, but these motion controllers lack PC bus interfaces such as ISA / PCI, are too special-purpose, are difficult to be used in various PC-based computers control of the scientific dexterous hand

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