| Embedded system is widely used in the world. With the growing development of embedded technology, the type and quantity of embedded devices are increasing, which not only promotes the development of the modernization, intelligentization and automation of society, but also greatly expands market prospects. In the field of industrial control, the advanced science technology is applied to robots. And the development of productive forces is promoted and the competitiveness of the industry is increased. The embedded technology plays the important role in the field of robot control. According to the research foundation of robot technology in our lab, it puts forward to the embedded experimental platform by the related proven and popular embedded technology on the market. And the specific requirement of the practical application of robots is met.The Embedded experimental platform was built based on ARM9 chip S3C2440A. Combined with the specific peripheral equipment, the hardware platform of the embedded system was built. By embedded Linux operating system and QT/Embedded graphical library, the device driver program and application software was developed. And Linux operating system was transplanted to ARM9 in order to realize the goal of controlling motor, sampling sensor and displaying data. And the integrated embedded experimental platform was customized. In the overall structure design of the control system, the common data communication interface and sensor device interface were provided for easily developing complex control system. For the example of TMS320F2812 as slave microcontroller in the experiment, the function of the embedded experimental platform was verified and achieved well. The innovative point of this work is that the hardware based on ARM9 and motor drivers are designed. The different types of motors and sensors are applied. The hierarchical control is used for system expansion. The complex multi-task is handled through graphical user interface. The experimental platform has good control performance and is used for the convenience of subsequent research in the field of robot intelligent control.The hardware and software design of the embedded experimental platform based on ARM9 were introduced in the paper. In the part of hardware design, ARM9 control panel was produced, including Flash, SDRAM, reset circuit, power supply, binary sensor port, network port, data communication, GPIO, A/D converter port, etc. And the motor drive circuit was designed in order to drive DC motor and step motor. The circuit board was tested for its function. In the part of software design, it involved in many functions and features of embedded Linux operating system. According to embedded system model, development mission and process, software was developed by sub-level and several steps. The cross-complied environment was build. The device drive program was completed, including the I/O port, A/D conversion port, touch screen device and serial port. The kernel was customized and transplanted to the ARM9. The file system was produced and QT/Embedded graphical environment was established. By the QT Creator and the finite state machines, graphical user interface was designed by C++ language. According to application layer protocol based on serial port, serial communication, motor control, binary sensor status display, LED and buzzer control and sensor data display were realized. Integration of the hardware and software and reliability test were completed. And the results of this research project were summarized and the next steps of the research work were put forward to in the paper.The key technology of the embedded system is embodied in the embedded experimental platform. And application development of robot technology is met. The combination of the theoretiacl knowledge and practical application is enhanced. The embedded experimental platform has a certain research and application value. |
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