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The Design of Embedded Control System Software of Three-DOF SCARA Manipulator

Author: LiuXiuHong
Tutor: FangJianJun
School: North China University of
Course: Mechanical Design and Theory
Keywords: Three degrees of freedom SCARA robot Win CE EVC visual C PID control law matlab program
CLC: TP273
Type: Master's thesis
Year: 2010
Downloads: 193
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Abstract


With the rapid increase in embedded hardware performance and the rapid development of embedded software, embedded control systems further development of smart devices, smart meters, automatic control equipment. People gradually increased demand for the use of embedded systems are increasingly high requirements, provide a friendly and convenient, stable and reliable man-machine user interface for embedded systems become very urgent requirement. This paper focuses on the three degrees of freedom SCARA robot embedded control system software, including parts of the software development and control algorithms. First, from the history of the development of the introduction of embedded technology trends and research status, discusses robot which uses embedded software control, and describes the operating system used in embedded software; discusses the robot in industrial control process an important role, and thus the importance of the control system test platform, which is the purpose of this research. In the body of the paper, first given in three degrees of freedom SCARA robot model, the description of the three degrees of freedom SCARA robot mechanical body, three degrees of freedom SCARA manipulator kinematics derived pros and cons of the solution algorithm formula, and redundancy free manipulator optimal control algorithm made a simple derivation of typical kinematic analysis in order to improve control accuracy analysis robot, the robot trajectory precision design and calculation, obtained through the calibration experiments the robot trajectory positioning formula, the precise position control of the robot continuous path control, test control system software, test software openness. In the three degrees of freedom the SCARA robot closed-loop uncontrolled experiment research topics verify. Papers of three degrees of freedom SCARA robot embedded control system software structure plan outlines the minimum system cutting Win CE, link two parts in the Application Programming part with examples elaborated EVC software for WinCE system developed human-computer interaction, The second part is written under Win CE-based touch-screen control system and C language programming tools support the motion control program. Then conduct comprehensive experimental study of embedded control systems, the use of the PID algorithm, written Matlab program, conducted simulation experiments with actual control experiments. In the implementation of control system software development, this paper VisuaIC 6.0 development platform, modular programming, making the code very readable and modifiable. Provide a strong guarantee for the future to further improve and perfect the system.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Automation systems > Automatic control,automatic control system
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