Applied Research On QNX Real-time Threads Based Control Program For Antarctic Manipulator

In recent years polar expedition is of great meaning on strategy. It is an inevitabletrend of polar expedition to realize the detection and investment by robots in substitute ofthe scientific staff and polar expedition’s automation and its intelligence. This topic isestablished based on the863project "polar scientific equipment", the aim of which ishelping the polar scientific robot accomplish the assignments such as collecting icey snowsample, grasping the meteorite fragment and so on and this will bring lots of benefit forservice of polar expedition. Thus a manipulator would be in the study forAntarctic science investigation, especially its control system including the controlarchitecture and the control program on host computer.Working conditons analysis should be the basis for the design. In the second chapter isthe discussion on task characteristcs, according to which the whole design schem is givenin the following. Mechanics draft including mechanism calculation is listed to lay afoundation for further design. Then the control architecture.Compared with mechanics works, control system is the theme for this thesis, withcontrol architecture development and host control program coding. The former is studied inchapter3rdchapter, and the latter in chapter4. Both were started with the underlyingprinciple leading to the particular realization, then the design details was provided withflow charts, illustrations and so on.Finally, the paper tested the function and performace of the control software and thusthe whole control system. Data and curves show that this control system can fulfill thedesign expectation, and through the research this design has expanded the implemation anddesign means of manipulator control system, making technical groundwork for polarscientific equipment.