| With the enlargement of telerobot application domain, the structure of slave manipulator goes diversification, therefore, studying universal master manipulator that can control many slave manipulators becomes hotspot problem. This paper takes the state 863 program-hot line robot for background, which was assumed by the robot center of Shandong University of Science and Technology. In this project, a set of universal master controller was developed, which is integrated with a master manipulator to be a master controller system that can control different slave manipulator on different operating system.After analyzed master controller, the design plan was set, which selected USB device chip embedded MCU and logic control chip. This paper introduced the function and implement of USB interface and A/D circuit. After analyzed USB theory, Software drivers of master controller include device firmware, device driver and USB system software.Analyzed master controller firmware frame, Device firmware adopted the EZ-USB firmware frame. The functions of master controller were realized by designing the main program, initialization of USB device chip and peripherally chip, data acquisition of master manipulator' s signal modules. It' s realization is independent of Operating System.The exploitation of device driver is related with how the OS managed the device and the method which is provided to user. The device driver of master controller is developed on Windows Linux DOS Operating System in this paper.Based on Windows OS, the device driver of master controller adopts WDM driver frame. The most functions that interrupt transfer needs were implemented. By analyzing the USB subsystem of Linux OS, the data structure, initial function, disconnecting function and file manipulative function were developed. Thus, the master controller can be accessed as a device document. But DOS OS cannot support USB protocol, this paper places stress on studying the hierarchy and algorithm... |
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