Research Of The Embedded Manipulator Motion Controller

As a important part of robot, motion controller achieves great development , with the emergence of lots of new technologies. The thesis that is based on 863 plans of "Live line Maintain Robot System" , researches and designs a manipulator motion controller that is based on embedded system, which can be remote controlled by internet.At first, the thesis put forward a scheme of motion controller based on embedded system, by use of analyzing entire structure of manipulator motion control system and position servo system, combining characteristics of embedded system. According to the scheme, each part is analyzed , and its circuit is designed , such as embedded processor, memory, communication agent and implement agent, thereinto , the last one is the most significant.Secondly, the thesis narrates the inner structure of Tornado2.2 simply ,which is the development environment of VxWorks. The migration of embedded system is one of the most important part for development of embedded software, several important questions are researched deeply that are related to VxWorks's migration to s3c44b0x.Subsequently,it is software design of controller's remote control based on internet, one side is remote PC, on the other side is controller. Because the software design of controller is established on VxWorks, the multi-task environment is introduced .On the pc side , the development environment is VC++6. 0, the paper concentrates on the researches on socket communication based on UDP and software designing of motion control.At last, the capability of system is tested in the mode of position and velocity,by use of experiments , and the result reaches anticipate purpose.