CAJ | 학술논문

提出了一种基于PC全软件多轴运动控制器，对其构架做了阐述，并对其性能做了测试分析。该控制器成功应用于串联六轴机器人的控制，表现性能指标可与国外产品相比。该控制器的硬件采用通用PC和基于FPGA核心的PCI板卡。轨迹计算和G代码解释全部在PC上用软件实现。PCI板卡仅用于数据缓存、简单逻辑转换和时序控制。
제출료일충기우PC전연건다축운동공제기，대기구가주료천술，병대기성능주료측시분석。해공제기성공응용우천련륙축궤기인적공제，표현성능지표가여국외산품상비。해공제기적경건채용통용PC화기우FPGA핵심적PCI판잡。궤적계산화G대마해석전부재PC상용연건실현。PCI판잡부용우수거완존、간단라집전환화시서공제。
A multi-axis motion controller based on all PC software was put forward. Its frame was explained,and its performance was analyzed in test. The controller was used successfully in a six-axis robot application,which performance index demonstrated were comparable with that of foreign products. Common PC and FPGA core based PCI card were used for the hardware of this controller. Trajectory calculation and the execution of G code were all implemented by PC software. PCI interface card is used only for data cache, simple logic conversion and sequential control.