An FPGA-Based Multiple-Axis Motion Control Chip

Abstract

This paper presents the design and implementation of a multiple-axis motion control chip using a field-programmable gate array (FPGA). This multiple-axis motion control chip is designed to control a multiple-axis motion system such as a robotic arm manipulator or a computer numerical control machine. The proposed motion control chip has many functions. These include velocity profile generation, interpolation calculation, inverse kinematics calculation, proportional-integral-derivative control, feedback count, pulse integration, data conversion, clock generation, and external interfacing. These functions are designed using the VHSIC hardware description language and implemented on an FPGA according to the electronic design automation design methodology. This allows for a highly sampled, accurate, flexible, compact, low-power, and low-cost motion control system. The detailed design of the proposed motion control chip is presented. A multiple-axis motion control system using this chip is implemented, and its performance is measured. The multiple-axis motion control system is implemented on a platform consisting of a chip-based multiple-axis motion controller, analog ac servo drivers, a selective compliant assembly robot arm robot, and a host personal computer.