Research On The Motion Control Of Robot Based On Embedded System

Industrial robot control system was an important part of the robot，and was mainly usedfor manipulator control to accomplish specific tasks. Motion controller accounted for thecentral position of the robot system，at the same time was the nerve center of the robot. Therobot control system design determined the overall performance and the controlperformance，while also decided the convenience of the use of the robot. Robot kinematicsas an important area of the robotics research，mainly solved the question of where the robotturned to. The robot kinematic had far-reaching impact on the robot control，robot dynamicsand trajectory planning.A new method of improved genetic algorithm was proposed to solve the inversekinematic for manipulator. The algorithm raised an adaptive crossover and mutationoperation，also improved the ranking method，with which the problem can be solvedaccurately and rapidly. The problem of multiple solutions can be optimized by using thepenalty function，which can make the inverse kinematic more practical. Then Used theMATLAB for simulation of the genetic algorithm，and the simulation results showed thatthe algorithm has high accuracy and can effectively avoid multi-solution. Contrasted withthe simple genetic algorithm to solve the inverse kinematic，the improved genetic algorithmhad good stability，high convergence，etc.As for the insufficient of the existing controller，selected OMAP3530and Linuxoperating system to build the industrial robot control system，which improved the traditionalclosed structure of industrial robot，also had good scalability. we designed the algorithm andtransplanted it on this chip. Programmed on the omap3530，through the cooperation of theARM core and the DSP core，with the TI official software package Codec Engine，ARM-side applications can successfully call DSP-side genetic algorithm，and return theresult of the call. The run results of the genetic algorithm show that the algorithm has highprecision，speediness advantage and so on. Compared with an ordinary PC，the OMAP3530platform is smaller，low-power，and the processing speed is faster.