On the Design of Simultaneous Motion Controller for the Four-axis SCARA System

This paper conducted the design and implementation of a four-axis Selective Compliance Assembly Robot Arm (SCARA) motion controller. Combining the SoC and FPGA circuits, a SoC/FPGA based four-axis simultaneous motion controller is proposed. The SoC-based controller operates the real-time forward and inverse kinematics computing, while the FPGA-based controller paralleled modulates the position and speed control of each axis. The SoC communicates with the PC-based host controller through TCP/Modbus so that the latter no longer requires the forward and inverse kinematics computing, in which the distributed control between SoC and PC can be achieved. The PC-based host controller only instructs the motion path order in the space, accurate path planning on each axis of the SCARA would be completed through proper movement segment calculation by the SoC-based controller, such design architect is able to accomplish a high speed, high accuracy motion control of the SCARA system.