The Development Of Intelligent Mobile Manipulator Control System Based On Embedded And Bus Technology

The thesis is supported by a National Program 863 item–"Moving Objects Detection and Navigation of Mobile Robots Based on Omni-directional visual"(item serial number : 2007AA04Z229).This project take the mobile manipulator of the laboratory as the research object to do some correlative technology research . The system hardware is based on ARM9 S3C2440 board, and the system software is based on the tool of PB and EVC++ which was provided by Microsoft .Our task is to study the control system of intelligent mobile manipulator by software programming when all hardware are chose and connected.The technology of intelligent mobile manipulator is an important branch in manipulator research field and is a hot point in robot research field. At present, intelligent mobile manipulator is more popular in many fields in china and is widely applied. In order to endow mobile manipulator with capacity of intelligent control and autonomous navigation, and solve the problems such as high cost, large power, loud noise, wiring complex ,maintenance difficulties, etc. The thesis proposes that utilizing embedded and field bus technology to develop intelligent mobile manipulator control system. What followed are the main contents:1. The expansion of field bus in embedded system. Since the main controller S3C2440 does not integrate the field bus interface, the field bus hardware circuit must be designed on the S3C2440, utilizing the embedded and field bus technology to combine field bus module and embedded system .2. The data communication between embedded system and field bus. This paper realizes the data communication between embedded system and field bus by writing the drivers and applications of field bus on Windows CE.3. The data communication of each intelligent mobile manipulator joints. Since the work of intelligent mobile manipulator is realized through the motor drive ,the motor control interface must be designed in embedded system. The intelligent mobile manipulator joints hardware circuit are connected through field bus and the field bus parameters are set up, thus realizes the data communication of field bus joints.4. Overall methods and schemes are verified on intelligent mobile manipulator with experiments , thus show that manipulator runs steadily and the control system is feasible and reliable through the results.