Abstract
The objective of this article is to build a field programmable gate array–based six-axis servo control integrated chip which can integrate the function of a motion trajectory planning and the function of six position/speed/current servo controllers into one integrated chip. In the work, first, a mathematical modeling of a robot manipulator with the actuator using permanent magnet synchronous motor is derived. Second, the proportional controller in the position loop, a proportional–integral controller in the speed loop and a vector controller in the current loop for each axis are applied. Third, a system on a programmable chip) technology which comprises an Altera field programmable gate array chip and an embedded soft-core Nios-II processor is considered to develop the proposed servo control integrated chip. However, in the servo control integrated chip, it has two modules. The first module is an embedded soft-core Nios-II processor which is used to generate the motion trajectory planning by software. The second module presents a six-axis servo controller intellectual property by hardware which is applied to execute six position/speed/current controllers. Therefore, the function of a motion trajectory command and the function of six position/speed/current servo controllers for a six-axis robot manipulator can be integrated into one field programmable gate array. Finally, to verify the effectiveness and correctness of the proposed field programmable gate array–based servo control integrated chip, a six-axis robot manipulator is applied and some experimental results are demonstrated.
Highlights
The traditional automatic machine usually utilizes one central controller for the motion trajectory planning and multiple microprocessors for multi-axis servo motor drive system to establish a multi-axis motion controller
The servo controllers at each axis of the robot manipulator can be independently designed and it is robust with the external load
The field programmable gate array (FPGA)-based six-axis servo control integrated chip (IC) for a vertical-type six-axis articulated robot manipulator has been successfully demonstrated in this article
Summary
The traditional automatic machine usually utilizes one central controller for the motion trajectory planning and multiple microprocessors for multi-axis servo motor drive system to establish a multi-axis motion controller. The integration of a multi-axis servo and motion controller into one chip applying to XYZ table, computed numerically controlled (CNC) machine or robotic system, and so on for reducing the system volume and increasing the system performance and motion stability have become a popular research topic in literature.[1,2,3,4,5,6,7] To solve this problem, field programmable gate array (FPGA)[8,9,10,11] provides the best solution among those high-end commercial microprocessors due to its fast computational.
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