摘要
通过采用ARM9微处理器和Windows CE.NET嵌入式操作系统,设计了一套嵌入式智能机械臂控制系统。为了满足系统的便携性要求,将该系统分为移动控制终端和机械臂控制端两部分,模块之间通过nRF24L01实现高速无线数据传输。该控制系统的应用软件和无线模块驱动程序都是基于Windows CE.NET的嵌入式操作系统开发,从而能满足系统的实时性要求。根据该设计方法开发出一套嵌入式智能控制系统,并将该系统应用于控制一个五自由度的机械臂。实验表明,该控制系统能够精确控制机械臂完成规定的动作,并且具有很好的实时性和较高的可靠性。
The intelligence manipulator control system was designed based on ARM9 and Windows CE. NET operating system. The control system was combined with mobile control terminal and manipulator control terminal in order to satisfying portable portability and the communication of the sections was high-speed wireless through nRF24L01. In order to satisfying the in-time object, the application software and wireless drive model are designed via embedded operating system. The high precision, stability and reliability of this intelligence manipulator control system are validated by the results of the experiments of a five-free degree manipulator.
出处
《机电一体化》
2011年第8期70-74,共5页
Mechatronics
关键词
嵌入式系统
机械臂
智能控制
embedded system manipulator intelligence control
