Arm-based Embedded Systems, Applied Research, In Competition Robots

In the background of 5th Robot Contest, a robot is designed and it could move with purposive task in static environment. The primary research contents of contest robot control platform include: convert the hardware platform from traditional 8-bit microcontroller based on C51 into 32-bit processor LPC2131 based on ARM7 and successfully work on the corresponding researches on software design and control arithmetic for the system's high speed, real-time, extensible and transplantable.The paper's main work consists of two parts: one is system design and the other is detail hardware and software design.Firstly, this paper analyses the design requirement of contest robot bottom control system, and frames a system designed project using LPC2131 micro-control unit of ARM7 series as the kernel.Secondly, the paper presents in detail hardware and software design of the control system for contest robots. It mainly includes center control system frame based on ARM embedded processor and step motor controller modular design. In this part, some points are presented in detail, including hardware choosing, unit circuit design, control principle and control algorithm It designs system testing platform based on ADS1.2 DebugInFLASH, and achieves the validation on 2006 CCTV Robot Contest.The notable feature of this paper is the combining of low power dissipation, high-powered embedded microprocessor with intelligence algorithm, and designs relatively integrated contest soccer robot control system. This system could simplify design process and fulfill the demand for robot contest further more. Additionally it focus on extensible, transplantable and design the based general control platform.