The Master Control System Design, Based On Arm's Three Degrees Of Freedom Scara Robot Hardware

With movement speed, Selective Compliance Assembly Robot Arm takes the advantages of positioning accuracy of coincidence. As one of important industrial robots, the industrial robot technology in the field of modern industrial control automation has been widely used. At present, the robot control technology with the pattern of development commonly used by "PC+motion controller", and has made great development. But with the increasing depth of embedded technology, especially led by the rising ARM microprocessor performance, ARM can replace PC as a control system,part of the host computer system, which with small size, light weight, user friendly, easy to carry features. Expansion Ethernet interface to meet the wireless/ wired Ethernet remote mode of operation to carry out tasks remote control or command center cluster.In order to build the hardware system, This paper is based on Samsung S3C2410 with ARM920T microprocessor core and the CS8900 Ethernet chip, extended the external FLASH, SDRAM to constitute the core of the main control system. This design uses DXP software to draw the hardware master system schematic diagrams and the PCB. Transplantation in the processor by U-BOOT and Linux operating system, which give full play to the 32-bit CPU, multi-tasking potential, making could well meet the multi-task scheduling, and improves system reliability. On this basis, the development MINIGUI interface allows ARM to achieve the friendly human-computer interaction once carry out on the PC, which downloading the data and solving the task available.