Abstract
Absolute position measurement method for robot whose joint servo system consist of motor and servo driver is proposed in this paper. A motion controller based on DSP (TMS320F1812) receives serial data of absolute position in initial phase and gets incremental position through QEP module embedded in DSP in running phase. Then, the absolute position is calculated in real time. A new motor rotation determination method instead of reading pulse counting register direction flag bit is presented to overcome variation of direction flag bit when motor keeps in a fixed position. Hardware and software design schemes of motion controller are described in detail. Finally, an experiment has conducted to verify the absolute position measurement method for robot.
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