基于ARM的嵌入式人型机器人系统的设计与实现

发布时间：2018-07-06 14:41

本文选题：机器人 + ARM　；参考：《北京工业大学》2012年硕士论文

【摘要】：随着嵌入式核心控制器技术和操作系统的不断发展，基于远程控制的机器人日益受到了人们的关注。操作人员可以远离具有危险性的操作环境操控机器人，确保人身安全，，并且可应用在太空、医疗和核工业等多个领域。本论文的研究主要是以ARM920t为内核的S3C2440核心芯片为硬件平台，该平台满足了机器人的处理速度快、并行化、功耗低和群体性协作的要求。在此平台基础上，本文以嵌入式Linux为操作系统，采用Linux2.6.3版本的Linux系统。本论文在ARM平台下围绕Linux操作系统对人型机器人的几个核心技术展开讨论：首先，对嵌入式ARM平台体系结构进行了归纳，并详细阐述了与机器人硬件相关的重要层。接着，给出了Linux操作体统在硬件平台下的驱动开发和远程控制设计的整个过程，解决了涉及机器人姿态控制及远程通信过程中所面临的任务和难题。最后，在对Linux在ARM平台下内核驱动模型深入掌握的基础上，深入讨论了内核初始化、内核裁剪及编译的问题，为项目在ARM控制板上开发无线传感网络，以及机器人远程控制提供操作系统的支持。从而大大减小了复杂嵌入式产品的开发难度和开发周期。
[Abstract]:With the development of embedded core controller technology and operating system, robots based on remote control are getting more and more attention. Operators can control robots from dangerous operating environments, ensure personal safety, and can be used in many fields, such as space, medical treatment and nuclear industry. If the ARM920t core S3C2440 core chip is the hardware platform, the platform meets the requirements of the robot's processing speed, parallelization, low power consumption and group cooperation. Based on this platform, the embedded Linux is used as the operating system and the Linux system of the Linux2.6.3 version is adopted.
This paper discusses several core technologies of humanoid robot around Linux operating system under the ARM platform.
Firstly, the architecture of embedded ARM platform is summarized, and the important layer related to robot hardware is elaborated in detail. Then, the whole process of driving development and remote control design of Linux operation system in hardware platform is given, and the task and difficulty in the process of robot attitude control and remote communication are solved. Finally, on the basis of the deep grasp of the kernel driver model of Linux under the ARM platform, the problems of kernel initialization, kernel cutting and compiling are discussed in depth, and the support for the development of wireless sensor network on the ARM control board and the operating system of robot remote control is provided, which greatly reduces the opening of complex embedded products. Make difficulty and development cycle.
【学位授予单位】：北京工业大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TP242;TP368.1

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