Design and Implementation of Open Multi-axis Motion Control System Based on Xenomai

The closed design of the motion control system limits its use in multi-axis real-time industrial scenarios. In order to solve this problem, an open motion control system software framework based on Xenomai is designed. Following the principles of layered architecture and modular design, the control system employs a multi-tasking approach. It implements the functions of motion task path description, interpolation calculator, and kinematic solver in the motion control layer through open interfaces. Different types of devices are organized and managed by a device factory. Then, a motion control interface is designed to enable programmable motion control for different devices, and the operational workflow of the motion control system is discussed. Finally, experimental validation is carried out with CNC, SCARA robot, and six-axis industrial robot. The experimental results show that the open multi-axis motion control system based on Xenomai meets the requirements of smooth operation as well as high control accuracy, and has good versatility and scalability.