Design And Implementation Of 3-Axis Linear Interpolation Controller In Fpga For CNC Machines And Robotics

Abstract

This paper presents the design and implementation of a 3 axis Linear Interpolation Controller in a Xilinx Spartan 6 Field Programmable Gate Array (FPGA) to control a 3D linear motion ofa Computer Numerical Control (CNC) machine or robotic arm. It is implemented using Verilog HDL. Linear motion is the most fundamental motion. Any motion trajectory can be traced through series of small linear motion. Therefore linear interpolation controller is very important part of any motion controller. The algorithm implemented avoids large amount of complex mathematical calculations, making it suitable for real time applications. Moreover, the hardware implementation of linear interpolation algorithm as compared to software gives this implementation high real time performance, precision and lower power. The simulation results of the linear motion in 3D space verify the effectiveness of the implemented algorithm.