DSP+FPGA-Based Multi-Axis Controller for a 3-DOF Planar Parallel Robot

The paper presents a multi-axis motion controller based on DSP (Digital Signal Processor) and FPGA (Field Programmable Gate Array) to meet the communication demands of modern complex control systems. In details, the paper first introduces a design method of the structure of the motion controller which is based on PC. This controller consists of FIFO (First In First Out) circuit block and baud rate generator circuit block etc within FPGA. They are used to implement real-time communication in modern complex master-slave control systems effectively when PC and slave controllers are set at different Baud Rate. In addition, the paper renders a method used for Synchronous control and analyzes the synchronization error between slave controllers. In order to test the performance of the developed controller, a 3-DOF planar parallel robot is used to follow a plane line trajectory. The high position precision of plane trajectory has been drawn which shows the ability of the developed multiaxis controller to realize a real-time and high-precision coordinated motion control.