Implementation Of Embedded Multi-joint Robot Control System

Multi-joint Robots have been used widely in the high-end industry, and will be used by more kinds of industry. They are being used to replace man to do the dirty, dangerous and repeat works. After decades of research, robot control system is becoming more open, smaller and networked. This paper is going to implement a kind of open, compact-sized, easy to use and low-cost multi-joint robot control system. Specific information is as follows.First, this paper gives an analyst of the present situation and development tendency of robot control system, and raises a structure based on DSP, FPGA and ARM. A four-dof robot is taken as an example to establish the model of it, and it’s forward and inverse kinematics is been analyzed.And then, the system’s hardware is been designed. According to the demands of the robot control system, the models of main chips are chosen. Serial interface is adopted between different modules. Network and general-purpose input output port is used to communicate with outside devices. Using the parallelization of FPGA, multi-channel pulse output port is designed to control servo drivers. The system’s software consists of two parts, motion control and human-computer interaction. Motion control software is programmed with C program language, is aimed to accomplish function of kinematics calculation and logic control, like line and circle interpolation, acceleration control, deceleration control and teaching program interpretation. Program is been written on ARM to accomplish display and teaching function on a LCD touch screen. Moreover, an intuitive way to teach robots using smartphone is been put forward. A smartphone application is been developed to help users to accomplish the teach process through multiple intuitive interactive modes. The teaching process is easier using the new way.Last, a four-dof SCARA robot is used to set up a hardware platform for experiment. The experiments elaborate the process of control and teaching with multiple intuitive interactive modes. Step by step, the experiment of control of single joint, point-to-point, continuous path is implemented. The teaching process and effect through multiple intuitive interactive modes is shown.