SOPC based optimized feedrate scheduling for NURBS interpolation

As FPGA (Field Programmable Gate Array) can calculate in a parallel way to improve the real-time performance, more and more motion controllers are designed with FPGAs. However, these FPGA motion controllers don´t use processor, communication between the function modules is very complex and lack of flexibility. Therefore, SOPC (System on a Programmable Chip) technology with a processor to combine the merits of both the software and hardware to improve the integration of the system and meet the real-time requests is more and more used for motion controller. Due to the pursuit of high speed and high precision in modern manufacture, federate scheduling method for NURBS (Non-Uniform Rational B-Splines) interpolation is a meaningful subject to study. However, current research often focuses on improving precision while pays less attention on interpolation time. This paper designs an optimized feedrate scheduling method for NURBS interpolation and realizes the method on a FPGA-SOPC based motion controller. The optimized feedrate scheduling method is designed not only to minimize the interpolation time but also provide high precision. Simulation and experiment results show that this method is effective.