中文摘要：

为研究智能控制算法在六轴工业机器人中的应用,设计了开放式运动控制卡,采用DSP＋CPLD的架构,可加载用户编写的智能控制算法,具有较好的开放性和通用性。该控制卡设计了多种通讯接口,并对传统的光电编码器接收方法进行了改进。DSP和CPLD都采用模块化编程,易于通过更改部分代码实现不同的要求,如控制不同类型的电机等。

英文摘要：

For the evaluation of intelligent control algorithms in the applications of 6-axis industrial robot,a motion control card in the open architecture is designed.Based on the framework of DSP and CPLD,the motion control card can be loaded with the user-written intellgent algorithm,has good open-endedness and versatility.The designed card has various types of communication interface and improves the traditional method in encoder reception.To meet different requirements,such as conrtrolling different kinds of motors,it can be easily achieved by modifying a portion of the program due to the modular programming used in DSP and CPLD.