IJSRP, Volume 5, Issue 11, November 2015 Edition [ISSN 2250-3153]
Miss Lince Paulose Njarakatt, Mrs. Arati S. Phadke, Dr. Vaidyanathan Iyer
This paper presents a novel motion control system with multiple axes using an Ethernet link from a host generating the motion profile and the motor drivers/controllers. To implement an architecture which can deliver jitter free trajectory scalable to 18axesat an update rate of 5KHz.While analysis and trajectory generation are performed for 6axes control, motor control is evaluated on a mechanical system with two motors. The aim is to achieve efficient motion control with jerk free motion. The algorithm uses ping pong buffers to load and run the motors. Comparisons are made based on the results obtained using various DSP controllers. The motion profile of a circle is experimented and discussed in this paper.