Open robot motion control systems based on a "PC + motion controller" architecture can fully leverage the advantages of PCs such as high openness, good versatility, and strong processing capabilities, as well as the benefits of motion controllers like fast computation speed, excellent real-time performance, and strong control capabilities. Consequently, they have developed rapidly and become a current research hotspot. However, in current open robot motion control systems employing this architecture, whether the motion controllers are provided by controller vendors or independently designed by researchers, there are issues concerning versatility and hardware/software reconfigurability, which affect the openness of robot motion control systems.

Therefore, this paper, by studying the structural characteristics of open robot motion controllers, formulated an overall design scheme for an open robot motion controller based on DSP+FPGA. Based on the formulated design scheme, an open robot motion controller based on DSP+FPGA was designed and implemented, and the core motion control algorithms for the open robot motion controller were investigated.

This paper fully utilizes the high-speed digital signal processing capabilities of DSP and the powerful concurrent control capabilities, along with rich logic resources, of FPGA to enable the motion controller to achieve higher computational and control capabilities. By fully leveraging FPGA's logical programming capability to replace integrated chips and implement logical connections, hardware/software reconfigurability of the motion controller is achieved, enhancing the openness of the robot motion controller. Furthermore, by studying curve fitting pre-processing technology and look-ahead velocity control technology, the control efficiency of the