Development of Experimental Robot Control System Based on ARM
|School||Harbin Institute of Technology|
|Course||Instrument Science and Technology|
|Keywords||Experimental Robot ARM Sensor System LPC2210 μC/OS-II|
With the development of artificial intelligence technology and computer technology, the research of intelligent robot becomes more and more. In the field of education, Many universities set up courses in robotics. In order to meet the needs of teaching experiments, this thesis developed a set of ARM-based experimental robot control system.In the thesis, LPC2210 is selected as the CPU of the experimental robot, we design the photoelectric sensors, the ultrasonic sensors and the infrared sensors to achieve the functions of automatic track finding and automatic obstacle avoidance, and we complete the designs of the system memory circuit, the serial communications interface circuits, the liquid crystal module interface circuits, the JTAG interface circuits and other external hardware system based on the embedded microprocessors. The motor drive system is designed in this thesis, the sports installations of the experimental robot are two stepper motors. we complete the hardware system design and debugging, and complete the programming of bootloader and bottom drivers.In this thesis, we chooseμC/OS-II which is a real-time operating system as the software system, transplantμC/OS-II , design the tasks ofμC/OS-II and achieve the design of communication crogram amoog tasks. Application prpgram is divided into the following aspects: automatic track finding task, infrared detection task,ultrasonic testing and motor control task.Finally, we design experimental platform of the experimental robot control system in this thesis, and test the platform, mainly include the following aspects: serial communication reliability test, photoelectric sensor module testing, infrared sensor module test, ultrasonic sensors and motor drive module test. Test results show the good characteristics of experimental robot. The system have following advantages: operation reliable, low cost, real-time and feature-rich.