ARM9-based Research On The Remote Control System Of Robot

With the development and application of computer network, it's the trend to make use of network to control robot. And control system is more and more complicated, traditional mcus can't adapt themselves to the requirement of modern industry, embeded systems are being adopted widely in industry intelligence systems. Robots controlled by network has advantages of long distance controlling, as well as complex operations.Ethernet is almost compatible to all kinds of network protocals, besides it has a lot of good features of high velocity, low power and easy installation. So an important developing trend in industrial robot is how the Internet is applicated and expanded.This paper discusses a joint level contorl system including ARM9 mpu—S3C2440,seven 51 mcus and seven Panasonic AC servo motors,which has functions of network control and position feedback.Samsung ARM9 mpu S3C2440, which is characterized by high integration level and high computing speed, is adopted as supervisory computer unit in hardware designing.As a result,the joint level control system need less circuits to support,has high speed of program execution and good reliability and efficiency.In software dedisgning,Embeded Real Time Operating SystemμC/OS-Ⅱis used to be as the interface between the bottom layer of MCU hardware and application.Network communication software—LWIP is transplanted onμC/OS-Ⅱ,So the robot has the ability of network communicating.Besides,user graphical interface UC/GUI is also transplanted on u C/OS-II,which enrichs the interface between user and ARM.The general plan is designed to cater to the requirements of the manipulator, the joint level control system is inferior to ARM9 mpu.ARM9 mpu not only receive orders from network,but also communicate with user.Secondly, the joint level control system receive the values from ARM9 mpu, while obtaining the real output value from the encoders of AC servo motors,and PID arithmetic will be done on basis of above data to regulate the PWM output to complete closed-loop control of position feedback.The most important and innovative part of this paper is that robot romote control based embed system.LWIP is free and open-source TCP/IP software,whose aim is to reduce the RAM consuming. So it's suitable to be used in embed system.While LWIP Webserver is accomplished, UART to Ethernet conventor is also done to convent data protocals between UART and Ethernet.At last, uers can control robot from client by Ethernet.