FPGA Based Multi-Axis Motion Controller, for Stepper, DC and Servo Motors for Robotics

Abstract

The objective of this work is to design a motion controller for different types of motors used in robotics applications. This work can be part of any Field Programmable Gate Array (FPGA) based robotics system to provide motion control. The proposed control system can control different types of motors with different specifications from one platform. This paper presents the design and simulation of the motion controller for the stepper, DC and servo motors which are written in Verilog. A user interface is developed to specify the motion control parameters in MATLAB. The simulation and experimental results for these controllers show correct behaviour for the control signals as expected.