Development Of Spraying Robot Control System Based On OMAP-L138 & FPGA

With the continuous development of China’s manufacturing industry and the transformation of industrial structure,more and more spraying robots will be applied to the manufacturing industry in the future.With the continuous development of industrial production requirements and new chip production technology,control system of spraying robot is also constantly upgrading,but the motion controllers are mainly universal type,the underlying algorithm and hardware architecture is closed,not to two times the development of algorithms for specific applications,so to develop an independent intellectual property,can adapt to different products,of flexible configuration,simple programming and low cost,to meet the urgent needs of the domestic small and medium-sized enterprises,has a very important significance.This paper makes a detailed analysis on the research status of spraying robot and robot teaching technology in the control system,By comparing the advantages and disadvantages between the universal robot control system and the traditional embedded robot control system,decided to choose "ARM+DSP+FPGA" based on the structure of embedded robot control system development,and discusses its necessity and feasibility.And built a OMAPL138+FPGA dual core three processor hardware platform based on the ARM embedded Linux operation system,mainly responsible for non real-time tasks;DSP transplant DSP/BIOS operating system,is mainly responsible for the planning,interpolation and smoothing speed speed allocation of real-time tasks;FPGA design of peripheral circuit,responsible for servo motor motion control.The main contents are as follows:In the first chapter,according to the present situation of the spraying robot,control system and the teaching technology of the hand handle,the paper puts forward the design of this project,that is,a new type of hand-held teaching robot control system.The second chapter according to the function analysis and design requirements,decided to adopt the design scheme of the embedded system design,hardware architecture and software platform architecture,the circuit design,board partition,software architecture analysis etc..The third chapter introduces the porting and configuration of BootLoader,u-boot,kernel,file system and other processes,and a detailed analysis of the OMAP-L138 dual core system startup process for the preparation of the development of late application.The fourth chapter mainly discusses the communication module design of the robot motion control system,including the communication between ARM and the host computer,the communication between ARM and DSP through the DSPLink dual core communication,ARM read servo motor encoder and so on.The fifth chapter focuses on the development of the system application software,divided into ARM end applications and DSP applications.The ARM side mainly runs three threads;the DSP side is embedded with different priority motion control algorithms and a timing interrupt.In the sixth chapter,the whole system is tested and verified by practical application.