Robotic Systems‎ > ‎

Motion Controller

Motion Control Board
  • Researchers
    • Jeong-Keun Kim (Master), Young-Min Kim (Master)
  • Research Periods
    • 2004.03 ~ 2007.09
  • Research Results
                                      <Motion control board>

  • Research Objectives
    • Development of the motion control board for robot systems in IRL's(Intelligent Robot laboratory)
  • Structure of Motion control board
    • Drive two DC motors or BLDC motors
    • Position,velocity,torque control
    • Data transfer between multi-number motion control boards by CAN communication
    • Data trensfer to host PC or network by an ethernet module

                          <Block diagram of motion controller>

  • Features of TMS320F2812 - motor controller
    • 32-bit DSP
    • Single 32 bit * 32 bit Mac - high accurate calculation
    • Interrupt latency: 10 ~ 11cycle
    • 6.67-ns Cycle Time : 150MHz
    • Unified memory programming model
    • 12-bit ADC, two event managers

                                  <Block diagram of TMS320F2812>

  • Features of motor driver
    • Drive two DC motors or BLDC motors
    • Ouput current : 6A(continuous)
    • Currnet sensing by using HCPL-7800

                             <Block diagram of motor driver>