The Design Of Embedded Control System Software Of Three-DOF SCARA Manipulator

Today as the rapid increase in the Performance of the embedded control Hardware and as well the embedded software,the application of the embedded Control system in intelligent control equip ment,Intelligent Instrument and Automatic Control System got further expansion which made offering a friendly,convenient,Stable and reliable Human—ComPuter interaction interface and wireless network Platform embedded system an urgent demanding.This thesis deals with the embedded system of three-DOF robot including the design of software and control arismetic.Firstly,This paper describes the development of embedded technology and research status of historical trend.Discussed the current robot which use embedded software control and introduced the embedded software used by the operating system;Discuss the important role of the manipulator in the industrial control process. Thus put forward a comprehensive study of the importance of the experimental platform.This is exactly what we out the purpose of this research project.In the beginning of the paper,first given three-DOF SCARA robot model,Through the description of three-DOF SCARA robot mechanical body,we educe the kinematics formula of the robot,Inorder to improve control accuracy for a typical kinematic analysis,mechanical hand for the analysis object,establishment of Cartesian coordinates.To proceed with the design of mechanical precision and calculation,by the calibration experiment obtain the positioning of the formula,conducted a precise point and manipulator control,continuous path control;Test software of control system,test the openness of software.Conducting closed-loop PD control experiments on three-DOF SCARA manipulator, conducting the results of research projects in a comprehensive verification.In the end of the paper,conducting architecture planning on the three-DOF SCARA robot embedded control system software.discussed the core features of Windows CE. The aPPlication Program link contains two Parts,the one elaborate with examples to use EVC software in WINCE system exploiting,the Human-ComPuter interaction and communication Programe. under the aegis of experimental development in the Windows CE box and visual C++ programming tools,motion control programs.Of complex control tasks will be decomposed into a number of complete single-function modules,reducing the coupling between programs/To design software with a struct uredmodular features,in order to lay the foundation for open software.In the control system software,VisualC++6.0 was used as a development Plat form in this PaPer, the use of modular Programming method resulting in good read ability and modify ability of the eode.This Provides a strong guarantee for the further Perfection of this system.