摘要
文章针对机械手的远程控制问题,利用"慧鱼"组合模型构建的三自由度机械手模型,对各模块间的相互作用和运动原理进行了分析与研究,并介绍了基于ARM的具有网络功能的嵌入式系统。该系统以ARM芯片S3C44B0X和网络控制芯片RTL8019AS为核心,利用网络控制芯片构建TCP/IP通讯程序,建立Web Server及TCP Control Server,实现机械手的远程控制;并将LWIP移植到了S3C44B0X芯片上,实现了与μC/OS-Ⅱ操作系统的完美结合。实践表明,该控制系统界面友好、简捷,控制精度较高,远程控制安全、稳定。
Aim at the remote control problem of robot, Fischertechnik has been adopted to establish the 3-D manipulator mechanical structure, the principles of the movement and their interactions between the modules are analyzed and researched in this paper.A remote experiment system which is realized by a new type microcontroller S3C44BOX and Ethemet micro-controller RTL8019AS is also designed and realized.The RTL8019AS is used to construct the TCP/IP and set up the Web Server and the TCP Control Server to realize the remote control. LWlP is transplanted to the S3C44BOX successfully and fully integrated with μC/OS- Ⅱ operating system. Experiments proved that the computer interface is friendly and neat,the system has high control precision and the remote control is safely and stably.
出处
《电子与封装》
2009年第6期21-24,共4页
Electronics & Packaging
