关键词: 数字信号处理器, 复杂可编程逻辑器件, 通用串行总线, 视觉伺服

Abstract: To overcome the limitations of the special architecture adopted by traditional control system of Motoman-sv3x industrial 6-Degree-of-Freedom (DOF) robotic manipulator, an open control system based on Digital Signal Processors (DSP) and personal computer was presented. Inside the designed control system, the motion control board was mainly consisted of 4 Digital Signal Processor (DSP) chips and 1 Complex Programmable Logic Device (CPLD) chip, among which three DSP chips were used to control the input-voltage of six motors of the robots, and the rest DSP was designed to control the rectifiers and brake the motors. To speed up data communication rate between computer and DSP, universal serial bus was adopted. The visual servo system was based on image with double charge-coupled devices. The proposed system has been proved to be with better real-time ability，higher computation speed, and it could conduct better control on the motion of robotic manipulator.

Key words: digital signal processor, complex programmable logic device, universal serial bus, visual servo