An Open Architecture Control System for Parallel Kinematic Machines Based on Multi-DSP Parallel Procession

Abstract:

Because of the control complexity of the Parallel Kinematic Machines (PKMs), such mechanisms may suffer from lack of accuracy at high speed. Unfortunately, conventional motion controllers have very limited flexibility because they are designed for Cartesian coordinates. Therefore, the motion control system for PKMs with both high performance and open architecture is urgently demanded. In this paper, an open architecture control system for PKMs based on multi-DSP parallel procession is presented. Then, the hierarchical distributed control strategy is discussed in details. In addition, the realization of an interactive communication interface among DSP processors is presented. According to the testing results, the developed system is capable of obtaining an interpolation sampling period at least 3 times faster than that could be offered by most controllers based on single-DSP, thus it is available for high-speed and high-accuracy control of PKMs.