Development of PCI-based Multi-Axis Controller for a 3-DOF Manipulator

This paper introduces the characteristics of a multi-axis control system based on PCI bus. To reduce the workload from host computer and utilizing the intelligence of DSP efficiently for a complex task, the developed controller is designed with master-slave structure. The controller is also suitable for standalone application to satisfy users´ requirements to some applications. The hardware development is focused on multi-axis controller chipset, PCI local bus control logic, and PCI bus design; these parts are key technologies for a PCI-based controller design. To verify the performance of the developed controller, a decoupled 3-DOF manipulator is used to follow a spatial screw trajectory and a plane circle trajectory respectively, the high position precision of plane trajectory has been tested by micrometer, it hints the developed multi-axis controller can realize a near-real-time coordinated motion control