Design and Implementation of an Industrial Robot Control System Based on AM5728 DSP+ARM

Industrial robot control systems often involve large-scale matrix computations and interface interactions. Traditional designs typically use an X86+FPGA system framework. With the development of embedded integration technology and SoC technology, high-performance multi-core controllers such as DSPs, ARMs, CPUs, and GPUs are rapidly expanding in the market due to their high cost-effectiveness. Given the outstanding performance of multi-core embedded systems in terms of integration, power consumption, and computing capability, this paper designs a hardware system based on the DSP+ARM dual-core SoC chip OMAPL138 and develops a complete industrial robot control system. This paper first briefly introduces the fundamentals of robot kinematics. Starting from traditional industrial robot control system models, and considering system development trends, computing capabilities, fault tolerance mechanisms, and motion indicators, an industrial robot control system architecture is proposed for hardware implementation, aligning with project objectives. Subsequently, building upon traditional CNC machine tool interpolation control algorithms, the mature fixed-distance interpolation trajectory planning algorithm used in industrial CNC machine tools is adapted with robot kinematics fundamentals. This leads to the proposal of an adaptive motion trajectory planning design based on fixed-distance interpolation with acceleration decomposition control (RMAC) strategy, addressing the problem of cusp vibration during specified motion trajectories and achieving smooth trajectory motion control. Matlab simulation analysis and actual motion experiments are conducted for specified trajectories with cusps, and