The Study Of The PCI Bus Card Driver For Robots With Underactuated Joint

Underactuated manimulator is a kind of manipulator with one or more joint is underactuated which can be called passive joint or free joint. The major character is that the dimension of input space is less than dimension of output space. We can see that the constraint of the system is un-integrable.It is called nonholonomic constraint.All of these feature make the control prolem has a number of additional difficulties.But there are many merit of this kind of manipulator,for example, underactuated manipulator maybe useful in particular instances to reduce weight, cost or energy consumption, while still maintaining an adequate degree of dexterity. So It is benefit to research the method of control problem,and it becomes one of the major topics of the field of robotics recently.In this paper, we mainly discuss the design and program driver on the two-joint underactuated manimulator and the design of PCI interface , design and program WDM driver on Windows 2000 and the total control application software of highlayer used by graph and source code .This thesis emphasize on design PCI interface based on PCI 9052 chip , the constitution way of WDM driver , the I/O transfer operation of driver and the sourcecode of driver's routine .