Research On The Robot Controller Based On The Embedded System

With regard to the two/three DOF robot widely applied in industry, a kind of robot controller based on embedded system was developed in this thesis. The work proposed a general plan for the robot controller on the basis of the comprehensive and the comparative analysis of the advanced control technology and method of the robot, and focused on the core component of robot controller, that is, the hardware design of motion control card and the development of the bottom program. The results include:First, the thesis proposed the general plan for robot controller based on embedded system. PCM-5825 was selected as the controller's mainboard. And the motion control card, the built-in PLC, AD interface circuit and the programming console were designed.Second, the hardware design of motion control card which took DSP+FPGA as its core was completed. Adopting the method of module design, the thesis divided the complicated motion control card into the relatively independent subsystems, which were then designed respectively, such as the module of power supply,the module of memory, the module of D/A, the module of pulse output, the module of the communication between PC/104 board and DSP, etc. Windows CE operation system which took up small memory and had a good realtime was designed for PCM-5825. And the development of the basic program of motion control card, including the debugging of DSP program and FPGA program, was realized.Based on the simulation and experiments, the motion control card was designed and various tests were made on it. The results showed that it was successfully designed.Then the velocity control curves were compared and analyzed. Finally the biquadratic cam curve was selected, and the mathematical model was built.At last, the whole study work was summarized, and further study was anticipated.