Research On Embedded Control System Of Handling Robot

With the social progress and development,industrial robots in the processing and manufacturing,assembly and handling industry occupy an increasingly important position.The control system based on microprocessor is rich in function.The system is simple and cost-effective.Therefore,it is of great practical value to carry out the design and development of the robot embedded control system.The main work is as follow.(1)The design and development of the embedded control system of the robot is completed which takes the cylindrical coordinate robot as the research object and uses ARM9 and Linux operating system as the software and hardware development platform.The peripheral circuit of the core processor is extended according to system function.Embedded web server,video streaming server and embedded database are built in Linux system.Be prepared for the control system software development.(2)Develop control system application to realize multiple function.The development of the user login module with the authentication function is completed based on the embedded database.The image acquisition and transmission subsystem are designed based on the video streaming server to complete the video monitoring module.Analyze the serial port communication protocol and the problems in the use of serial port and develop parameter setting module of the serial port.Considering the flexibility of the manipulator in the actual handling,the manual operation mode and the automatic operation mode are designed and the motion control module of the robot based on the two working modes is developed.(3)According to the structural characteristics of the robot,the collision condition of the robot and the obstacle is analyzed and the motion space is solved.The fault situation which may occur in the system operation is analyzed and the system fault warning and processing module is developed.(4)The running state and function of the system are tested.The test results show that the control system can realize the function of video monitoring,remote motion control,obstacle avoidance and fault warning and processing.