Driver Development And Startup Optimization Of Android Platform For Robot Teaching Pendant

Teaching pendants, as an important part of robot control system, have developed from a simple tool with function like single command input and code display to be a relatively independent system with various functions including teaching, programming, testing, maintenance, file management. However, the existing teaching pendants have comman disadvantages of the limited CPU processing capacity, single upper level software, slow communication speed and poor fault-tolerant property and stability, which cannot meet the control performance demands in practice. In order to address the aforementioned problems, a high-performance I.MX6-based Android robot teaching pendant platform is developed. Moreover, driver development and startup optimization for this platform are achieved. The main contents of this thesis are as follows:Based on the analysis of functional requirements, the developmental scheme of hardware interface and driver for I.MX6-based robot teaching pendant is presented. Considering of the layered architecture of Android operating system, optimization research is proposed for Android startup procedure.The development of driver program for I.MX6-based robot teaching pendant is accomplished. Then driver programs of key modules are developed, incuding LVDS display module, Android resistive touch screen, Android resistive touch screen calibration and industrial ethernet. In addition, the unit test is conducted for above-mentioned modules.The startup procedure is analyzed and then optimization strategy is proposed for the Boot Loader and kernel. Furthermore, the file system loading process is improved to reduce the startup-time. The startup optimization of I.MX6-based Android robot teaching pendant is completed to solve the slow-startup problem.Experimental teaching pendant hardware platform is built. Function test of peripheral driver and network initialization is performed to verify the effectiveness of the proposed driver. The test of startup-time teaching pendant is conducted and startup-time is decreased by 46.34%.The overall test results show that the teaching pendant meets the performance needs of industry.