<title>Development and implementation of an application programming interface for PC/DSP-based motion control system</title>

Abstract

This paper presents the results of a low cost, PC-DSP based motion control system development. The Texas Instruments TMS320C31 floating point Digital Signal Processor is selected for the real-time hardware platform while code development and user interface tasks reside on a standard, non real-time PC platform such as the Pentium/Windows 95 systems. An application programming interface has been implemented to facilitate open architecture code development. Finally, application to the control of an Adapt linear robotic workcell is made with 2 input shaper designs serving as the test algorithms.