Implementation of Robot Arm Controller on Embedded System

• Main Authors: Kyle Pan, 潘奕璁
• Other Authors: Kao-Shing Hwang
• Format: Others
• Language: en_US
• Published: 2010
• Online Access: http://ndltd.ncl.edu.tw/handle/61048636702111334503

碩士 === 國立中正大學 === 電機工程所 === 98 === The purpose of this thesis is to develop a portable, reusable robot control system. In light of rapid progress of computer technology in recent years, embedded systems can be more suitable for applying to robotic arm systems for daily life environments. In implementation, the main theme is established on the effort of a dual-arm controller based on embedded systems. For motion control of the robotic arm, built-in programming functions are equipped with inverse and forward kinematics based on the configuration of this dedicated light weight arm, in addition to deliberated circuit design and parametric calibration. To achieve the objective of portability, the control operating system is implemented under open system of operation system – Linux, and the technique of object-oriented programming. Therefore the developed system claims itself for a machine independent architecture. Therefore, a programmer can adopt usable modules from the frame works optimally for his own purpose. To demonstrate the feasibly of the developed system, a scenario is designed where a use merely enters motion commands and a target location on control interface, the robot arm can execute moving and pickup motion smoothly as expected.