運動控制概論
題目
:
嵌入式機器手臂運動控制器
出處
:
中正大學
電機工程研究所碩士論文
中華民國九十九年七月
作者
:
潘奕璁
同學
作者研究老師
:
黃國勝
博士
報告學生
:
黃元杰
同學
老師
:
王明賢
老師
ii
摘要
本論文的目的是發展一套可移植性，便於重複使用的機器人控制系統
。鑑於
近年來電腦科技的快速進步。嵌入式系統已慢慢適合搭載機器人手臂上來用於日
常生活的環境。
在實作中，主要的目的是建立一個基於嵌入式系統的雙手臂控制器。在機器
手臂部分，利用逆向運動學的推導，與順向運動學的驗證，搭配特製輕型化的機
器手臂，以及電路連接與傳輸參數等設定，實做出機器手臂在空間中的運動控
制。為了實現可移植性，控制系統的實作採用開放架構的
Linux
系統和物件導向
程式化技術。此開發系統為一種獨立的架構。因此，設計者可為了設計結構的用
途而採用適合的模塊化設計來優化使用。
為了驗證所開發系統的可行性，輸入動作指令和目標位置於控制系統，機器
手臂即可如預期般順利的做出拾取移動之用途。
TABLE
OF
CONTENTS
PAGE
ACKNOWLEDGMENTS
....................................................................................i
CHINESEABSTRACT
.......................................................................................ii
ABSTRACT
.........................................................................................................iii
TABLE
OF
CONTENTS
....................................................................................iv
LIST
OF
FIGURES
............................................................................................vi
LIST
OFTABLES
..............................................................................................vii
I.
INTRODUCTION
................................................................................................1
1.1
1.2
Research
Context
.........................................................................1
Research
Motivation
....................................................................2
1.2.1
1.2.2
1.2.3
Embedded
Linux
....................................................................3
Portability
...............................................................................5
Digital
Home
...........................................................................6
1.3
1.4
1.5
Research
Objectives
.....................................................................7
Research
Method
..........................................................................8
Thesis
Structure
...........................................................................8
II.
ANALYSISAND
DESIGN
................................................................................10
2.1
2.2
2.3
2.4
2.5
2.6
Problem
Statement
and
Requirements
Elicitation
..................10
Functional
Requirements
..........................................................11
Nonfunctional
Requirements
....................................................12
Use
Case
......................................................................................12
Analysis
Model
...........................................................................16
HardwareAnalysis
and
Design
.................................................19
2.6.1
2.6.2
2.6.3
Analysis
and
Design
Control
System
..................................20
Analysis
and
Design
Communication
Interface
................21
Design
Hardware
..................................................................25
2.7
Software
Environment
Analysis
and
Design
...........................25
2.7.1
2.7.2
2.7.3
Analysis
and
Design
IDE
.....................................................26
Analysis
and
Design
Embedded
Operation
System
..........27
Design
Software
....................................................................29
III.
CONCLUSIONAND
FUTURE
WORK
..........................................................
3
0
5.1
5.2
Conclusion
..................................................................................
31
Future
Work
...............................................................................
32
LIST
OF
FIGURES
Figure
Page
Figur
e
1.1
Common
embedded
system.......................................................................6
Figure
1.2Auxiliary
taking
glass................................................................................7
Figure
2.1
Use
case
of
the
development
platform
....................................................15
Figure
2.2Analysis
model
of
initial
control
system.................................................16
Figure
2.3Analysis
model
of
homing.......................................................................16
Figure
2.4Analysis
model
of
axis
control................................................................17
Figure
2.5Analysis
model
of
arm
control
................................................................17
Figure
2.6Analysis
model
of
basic
instruction
control
............................................18
Figure
2.7Analysis
model
of
behavior
planning......................................................18
Figure
2.8Analysis
model
of
class
diagram.............................................................19
Figure
2.8
Main
components
of
Linux
OS
...............................................................28
vi
LIST
OFTABLES
Table
Page
Table
1.1
Compare
with
system..................................................................................4
Table
2.1
5W1H
analysis..........................................................................................10
Table
2.2
5W1H
analysis..........................................................................................12
Table
2.3
Use
case
of
homing...................................................................................13
Table
2.4
Use
case
of
axis
control.............................................................................13
Table
2.5
Use
case
of
arm
control.............................................................................14
Table
2.6
Use
case
of
basic
instruction
for
each
axis................................................14
Table
2.7
Use
case
of
behavior
planning
..................................................................15
Table
2.8
Comparison
with
computer.......................................................................21
Table
2.9
Comparison
with
serial
transmission........................................................24
Table
2.10
Comparison
with
IDE
.............................................................................26
vii
1
I.
INTRODUCTION
1.1
Research
Context
In
the
past
few
years,
Robotics
has
been
a
lot
of
progress
and
success
stories,
such
as
the
auxiliary
arm
surgery,
vehicle
automatic
driving
system
technology,
exploration
robot
—
Sojourner
Rover
on
Mars,
development
of
automating
agriculture
and
aquaculture,
museum
tour
systems
and
so
on.
The
most
widely
used,
is
the
automation
robotic
arm
for
industrial
purposes.
Robotic
arm
is
one
kind
of
general
-
purpose
precisely
mechanism
designed
by
simulating
the
function
of
the
human
arm.
As
long
as
the
robotic
arm
accord
to
the
purpose
of
application
field,
installed
appropriate
platform
and
dress
corresponding
tools
on
the
end
of
the
arm.
Can
use
in
the
field
by
setting
corresponding
program.
For
example:
Assembling
spraying
gun
at
the
end
of
the
robotic
arm
and
corresponding
program
to
complete
the
painting
job.
Assembling
welding
gun
at
the
end
of
the
robotic
arm
is
complete
the
work
of
assembling
automobile.
Using
gripper
to
do
as
transportation,
surgical
precision
technology,
is
beginning
to
appear
in
the
eyes
of
the
world.
Its
stability
and
maneuverability
as
a
high
-
tech
applications
rather
than
be
the
object
of
fear
or
worry.
In
term
of
robotic
system
is
different
with
the
application
of
other
software
or
hardware.
There
are
the
following
features
[1]:
1.
Need
to
achieve
high
and
complex
targets.
2.
In
order
to
achieve
the
mobility
of
the
system,
need
to
interact
with
complex
or
dynamic
environments.
3.
Need
to
face
the
outside
noise
and
unforeseen
circumstances.
4.
Need
to
response
unexpected
changes.
The
requirements
affect
the
design
and
operation
of
robotic
systems.
Addition
to
many
hardware
resources
for
interaction
with
the
outside
world,
also
need
a
hardware
and
software
support
to
manage
the
entire
resources
of
system
and
the
response
capability
in
real
time.
Therefore,
in
systems
development
platform
capabilities
required
of
the
following
[2]:
Extensive
hardware
support
and
expansion
to
interact
with
the
outside
world.
Ahardware
and
software
support
to
manage
effective
the
entire
resources
of
system
and
the
response
capability
in
real
time.
Simple
operating
environment
for
users
to
edit
and
control.
1.2
Research
Motivation
Robot
system
has
a
certain
complexity.
It
can
be
divided
into
much
expertise
in
different
field.
For
example:
mechanism,
hardware
circuit,
control,
strategy,
kinematics,
visual,
communication
protocols,
power
system
and
so
on.
Therefore,
the
whole
robot
system
must
be
division
of
labor
and
perform
their
duties.
The
hardware
module
in
this
thesis
is
designed
to
provide
the
software
designer
to
concentrate
on
robotic
-
arm
-
related
behavior
and
learning
strategies.
Through
a
simple
set
that
can
achieve
the
corresponding
hardware
module
control.
As
the
complexity
of
the
robot
control
system
is
not
built
up
overnight
to
complete.
So
it
hopes
to
accumulate
research
results.
Step
by
step
to
construct
the
hands,
feet,
visual,
audition
and
sound
system
of
the
robot.
And
reduce
duplication
of
hardware
and
software
development
time.
Based
on
characteristics
and
future
development
of
robot,
the
main
motivation
of
this
thesis
would
like
to
build
a
portable,
easy
to
reuse
controller
of
robotic
arm.
This
controller
has
the
following
features:
2
1.
It
have
extensive
hardware
support,
and
could
expand
by
developer.
2.
Developed
by
common
programming
language,
accelerate
learning
and
provide
flexibility
operation
to
users.
3.
Allow
developers
to
directly
operate
the
bottom
of
the
control
instruction.
4.
To
provide
intuitive
control
interface,
let
users
and
designers
to
quickly
test
the
robot.
Provide
a
direct
interface
has
the
following
advantages:
1.
To
provide
a
simple
interface
for
beginners
to
operate.
2.
To
facilitate
the
debugging
and
advanced
of
application
for
skilled
people.
3.
Let
users
to
reduce
anxiety,
could
direct
control,
encourage
the
exploration.
In
terms
of
the
hardware,
robotic
arm
exist
long
enough
time.
Maneuverability
and
stability
has
been
gradually
and
widely
by
the
public
awareness.
For
the
reason,
the
thesis
tries
to
integrate
the
light
robotic
arm
and
embedded
system.
To
create
a
consumer
product
is
for
the
application
of
digital
home.
1.2.1
Embedded
Linux
In
recent
years,
as
chip
design
and
embedded
system
development.
Its
effectiveness
has
gradually
conforming
robotic
arm
complex
of
computing
and
algorithms
needs.
Besides,
the
hardware
using
of
embedded
Linux
system
architecture,
has
many
Windows
systems
characteristics
cannot
be
replaced
[3]:
Free
software,
open
source,
does
not
worry
about
copyright
issues.
Rich
in
resources,
a
number
of
forums,
easy
to
find
the
point
of
the
problem.
Free
for
deletion
or
extended,
users
can
customize
the
software
packages
required.
Multitasking
environment,
parallel
processing,
can
handle
multiple
3
LinuxSystem
WindowsSystem
opensource
resource
much
much
modify
permission
valuable
useful
common
cost
cheap
expensive
realtime
high
low
power
save
waste
difficult
high
low
operations
simultaneously
on
robot
system.
Facilitate
of
development,
there
are
many
ready
-
made
tools
to
support
various
development.
Use
common
PC
or
embedded
hardware,
Windows
or
Linux
operating
system,
this
is
indeed
a
prerequisites
for
planning
before
implementation.
Overlooking
the
majority
of
thesis,
most
of
them
construct
in
general
PC
with
Windows.
Has
its
simple,
has
its
limited
between.
The
following
table
lists
some
relevant
comparison
between
the
two
systems:
Table
1.1
Compare
with
system
Although
it
would
spend
time
to
structure
the
environment,
develop
the
application
software
and
user
interface.
Because
of
open
source
and
the
advantages
can
be
tailored
hardware
and
software
of
the
system.
This
is
still
the
biggest
motivation
to
select
Embedded
Linux
system
in
thesis.
4
1.2.2
Portability
Portability
has
two
meanings
-
mobility
and
migration.
These
two
features
are
one
of
the
motivations
expected
to
implementation
in
this
thesis.
Migration:
If
the
establishment
of
system
environment
and
compile
applications
of
control
program,
every
time
a
similar
study
or
implementation
have
to
start
all
over
again
once,
is
quite
a
thing
to
waste
of
human
resources.
Therefore,
the
initial
design
of
this
thesis
is
expected
to
be
able
to
complete
a
reusable
design
and
programming.
Not
just
the
migration
of
system
environment,
but
also
properly
planning
the
control
interface.
The
inheritor
of
user
or
developer
can
save
time,
manpower
and
material
resources.
Let
resources
invest
in
other
areas.
Mobility:
Light
-
weight
robotic
arm
control
system
is
also
the
start
of
one
of
the
motivations
for
this
thesis.
As
the
experimental
device
has
a
light
weight
robotic
arm
with
only
8
kg.
So
let
me
rise
the
idea
of
"consumer
product".
Just
as
the
progression
of
personal
computers,
expensive
mainframe
platform
personal
home
computer
notebook
smart
phone.
This
progress
may
represent
one
of
the
trends
toward
computer.
It
may
also
represent
a
popular
opportunity.
The
more
lightweight
and
high
availability
of
equipment,
the
more
attraction
for
general
user.
Figure1.1
shows
an
example
of
some
embedded
products.
Not
only
the
role
of
a
robotic
arm
can
work
in
factory,
prostheses,
support
arm,
digital
home,
robot
parts,
etc.
Perhaps
it
is
the
time
for
robotic
arm
starting
being
a
"consumer
product".
5
6
Figure
1.1
Common
embedded
system[4]
1.2.3
Digital
Home
Digital
Home
[5]
is
a
large
concept.
Hope
that
the
people
-
oriented,
science
and
technology
into
the
home
and
family.
Meet
the
information
sharing,
entertainment,
communications
and
automation
needs
within
the
family.
Be
pursuit
for
more
comfortable,
efficient
quality
of
life.
Presently,
more
popular
are
audio
and
video
products.
Such
as
TV,
stereo,
DVD
players,
game
consoles,
computers,
internet,
etc.
TV
as
the
main
core,
is
the
formation
of
a
family
concept
of
digital
multimedia
center.
The
application
field
with
robot
could
be
said
that
very
few.
The
application
of
mechanized
equipment
in
the
family,
Remove
the
cleaning
robot
current
began
to
appear
in
family
life.
Mechanized
equipment
is
still
few.
Thus
engaged
in
relevant
research,
has
much
considerable
development.
This
thesis,
the
robotic
arm
is
generated
for
this
motivation.
Figure
1.2
can
be
used
as
an
example
of
family
life.
Prior
to
the
families
of
the
application
are
bound
to
be
many
changes
and
amendments.
So
an
appropriate
software
project
planning
and
portability
design
is
this
series
important
part
of
development
process.
Therefore,
continued
development
and
tried
many
-
sides
and
multi
-
angle,
is
the
key
element
to
achieve
the
ultimate
goal.
These
factors
are
also
important
motivation
in
the
initial
development
of
this
thesis.
Figure
1.2Auxiliary
taking
glass
1.3
Research
Objectives
Articulated
by
the
foregoing
context
and
motivation,
can
be
simply
summarized
the
purpose
of
this
thesis
in
the
following:
Light
of
the
robotic
arm
and
miniature
the
host
device.
System
structure
in
embedded
system
and
Linux
environment.
Using
software
engineering
theory
to
portability
design.
Easy
to
operate
and
widely
used
system
of
robotic
arm
controller.
Easy
to
maintain,
features
with
flexible
and
expandability.
These
points
are
the
purpose
of
implementation
in
this
thesis.
Specific
of
the
research,
analysis
and
implementation
methods,
will
be
described
in
later
chapters.
7
1.4
Research
Method
Through
research
text,
motivation
and
purpose
of
integration,
specific
instructions
the
direction
of
exploration
and
design
in
this
thesis.
Finally,
experimental
results
are
also
consistent
with
expecting
target
of
research
purposes.
The
following
introductions
are
the
used
method
to
complete
the
research
purpose
[6]:
1.
2.
3.
4.
Analysis
the
purpose
of
thesis.
Design
framework
of
implementation
according
to
analysis.
Follow
the
way
of
design
to
implement
software
and
hardware
system.
Discuss
the
result
of
implementation.
1.5
Thesis
Structure
The
thesis
is
divided
into
five
sections,
described
below:
1.
2.
3.
4.
5.
The
first
chapter
contains
the
research
text,
motivation
and
purpose,
then
describe
the
research
methods
used
in
this
thesis,
the
outline
of
the
thesis
at
the
last.
Chapter
II
is
the
system
analysis
and
system
design,
using
methods
by
software
engineering
analysis,
then
summarized
and
presented
the
design.
Chapter
III
is
the
hardware
architecture,
mainly
plan
the
overall
hardware,
focus
on
robotic
arm
design
and
hardware
implementation,
arm
kinematics,
and
so
on.
Chapter
IV
is
the
software
architecture,
shows
the
overall
software
planning,
focus
on
embedded
Linux
system
development
environment,
software
architecture
design
and
implementation
Chapter
V
is
the
conclusion
and
future
work,
the
part
of
conclusion
will
first
be
done
on
the
quantitative
analysis
of
the
overall
system,
then
advantages
8
9
and
disadvantages
implementation
of
hardware
and
software
design
of
this
thesis.
the
part
of
future
work
will
do
simple
personal
assessment
on
follow
-
up
development
of
the
system.
Why
Makefamilylifemoreconvenient.
What
Controlsystemofroboticarm.
Who
Theuserordeveloperwithprogrammingcapabilities.
How
UsingcomputersystemwithgeneralPCdegreetooperate.
When
Anytime.
Where
Spaciousplace.
II.
ANALYSISAND
DESIGN
This
chapter
for
analysis
of
this
paper's
motivation
and
purpose,
then
use
the
planning
to
design.
This
assay
method
is
to
take
Unified
Process,
using
some
analysis
tools,
will
transform
goals
into
clear
and
specific
work
items.
First,
use
5W1H
to
further
reduce
the
target
scope.
Table
2.1
5W1H
analysis
2.1
Problem
Statement
and
Requirements
Elicitation
Second,
we
use
the
problem
statement
and
requirement
elicitation,
further
define
the
targets.
What
things
the
robotic
arm
controller
can
do?
Robotic
arm
can
reach
the
location
by
giving
coordinate
to
control
system.
Can
also
respectively
control
the
axis
angle,
facilitate
the
development
to
test.
Can
directly
enter
the
underlying
instructions,
adjust
initial
parameter
values
of
each
motor.
Have
memory
access
capability
to
complete
a
series
of
instructions
and
movement
of
robotic
arm.
Are
there
any
limits
with
family
robotic
arm?
10
Robotic
arm
must
be
as
light
-
based
devices,
its
control
system
must
also
be
on
the
light
as
far
as
possible,
Must
have
safety
inspection,
power
system,
appearances
and
arrangement
of
circuit
are
the
point
of
considerations.
But
this
thesis
is
in
the
research
stage,
do
not
need
to
obey
the
limited.
How
to
communicate
between
the
controller
and
the
robotic
arm?
Enter
the
commands
to
controller
of
robotic
arm,
it
will
be
compiled
into
low
-
level
instruction
to
motor
controller,
with
converting
the
PWM
signal
of
motor.
What
are
the
characteristics
of
the
environment
of
robot
control
system
architecture?
Need
good
hardware
scalability,
resources
acquire
easily,
and
can
add
and
remove
hardware
devices
of
the
system
architecture
by
demands.
What
are
the
characteristics
of
the
robotic
arm
controller?
To
easily
develop
re
-
use
as
the
main
points,
have
the
portability,
object
-
oriented
design,
easy
operation
and
maintenance
2.2
Functional
Requirements
Functional
requirements
are
derived
in
accordance
with
the
problem
statement
and
requirement
elicitation,
to
clearly
define
the
targets.
Initialize
the
control
system.
Return
to
the
original
point
of
each
axis.
Control
each
shaft
angles.
Control
robotic
arm.
Robotic
arm
motion
planning.
The
basic
operation
command
of
axis.
11
Title
InitialControlTable.
Description
Buildallmotorconnections
、
initializeandhoming.
Actors
Developer.
Pre
-
condition
Fillinallmotordevicenumbers.
Post
-
condition
Allmotorsarereadytomove.
Scenario
1.Enterthecontrolsystem.
2.Buildallmotorconnections.
3.Initialallargumentsforeachmotor.
4.Defineinitiationsiteforarm.
5.Seetheroboticarmturntoinitialposition.
2.3
Nonfunctional
Requirements
Likewise
non
-
functional
requirements,
defined
in
the
rest
of
non
-
functional.
Control
interface
design
must
clearly
inform
the
various
operating
and
behavior.
Have
simplify
the
procedure
of
orders
and
cancellation
with
the
user
interface
2.4
Use
Case
A
use
-
case
[7]
instance
is
a
sequence
of
actions
a
system
performs
that
yields
an
observable
result
of
value
to
a
particular
actor.
Table
2.2
5W1H
analysis
12
Title
Axiscontrol.
Description
Controleachaxis.
Actors
Developer.
Pre
-
condition
InitialControlTable.
Post
-
condition
Someaxismovesomeangular.
Scenario
1.Enterthecontrolsystem.
2.Selectaxis.
3.Inputangulartomoveaxis.
4.Seetheaxismovetospecifyangular.
Title
Homing.
Description
Letroboticarmreturntoinitialposition.
Actors
Developeranduser.
Pre
-
condition
InitialControlTable.
Post
-
condition
Roboticarmreturntoinitialposition.
Scenario
1.Enterthecontrolsystem.
2.SelectHoming.
3.Seetheroboticarmturntoinitialposition.
13
Table
2.3
Use
case
of
homing
Table
2.4
Use
case
of
axis
control
Title
Basicinstructionforeachaxis.
Description
Directinputbasicinstructiontoeachaxis.
Actors
Developer.
Pre
-
condition
InitialControlTable.
Post
-
condition
Axisdoingsomechange.
Scenario
1.Enterthecontrolsystem.
2.Selectdirectinput.
3.Inputoneinstructiontoaxis.
4.Seethechangefortheaxis.
Title
Controlarm.
Description
Controlroboticarmtomove.
Actors
Developeranduser.
Pre
-
condition
InitialControlTable.
Post
-
condition
Controlroboticarmtosomecoordinates.
Scenario
1.Enterthecontrolsystem.
3.Inputcoordinates.
4.Seetheroboticarmmovetospecifycoordinates.
14
Table
2.5
Use
case
of
arm
control
Table
2.6
Use
case
of
basic
instruction
for
each
axis
Title
Behaviorplanning.
Description
Planningaxisorroboticarmdoingsomebehavior.
Actors
Developer.
Pre
-
condition
InitialControlTable.
Post
-
condition
Axisorroboticarmdoingsomebehavior.
Scenario
1.Enterthecontrolsystem.
2.Selectdirectinput.
3.Selectbuffertoinput.
4.Inputseveralinstructions.
5.Seethebehaviorofaxisorroboticarm.
*
User
Table
2.7
Use
case
of
behavior
planning
Robotic
Arm
System
Initial
Control
System
*
Basic
Instruction
Control
*
*
*
*
*
*
*
Axis
Control
<<uses>>
Arm
Control
Behavior
Control
*
**
*
Developer
Homing
*
*
*
*
*
Figure
2.1
Use
case
of
the
development
platform
15
Start
Control
System
Initial
Parameter
Process
Initial
Function
2.5
Analysis
Model
Analysis
Model
is
further
decomposed
Use
Case,
so
that
each
function
can
be
by
the
Boundary
class,
Entity
class,
Control
class
instead.
This
will
allow
the
subsequent
design
and
implementation
of
a
more
precise
definition.
Initial
Control
System
*
*
*
*
*
*
Console
Origin
parameter
Arm
back
to
origin
Figure
2.2
Analysis
model
of
initial
control
system
Homing
*
*
*
*
*
*
Figure
2.3Analysis
model
of
homing
16
Console
Angular
value
Move
selected
Axis
Axis
Control
*
*
*
*
*
*
Console
Angular
value
of
each
Axis
Move
Robotic
Arm
Figure
2.4
Analysis
model
of
axis
control
Arm
Control
*
*
*
*
*
*
Figure
2.5
Analysis
model
of
arm
control
17
Console
Basic
Instruction
Move
selected
Axis
Basic
Instruction
Control
*
*
*
*
*
*
Console
Basic
Instruction
Move
Robotic
Arm
Figure
2.6
Analysis
model
of
basic
instruction
control
Behavior
Planning
*
*
*
*
*
*
Figure
2.7Analysis
model
of
behavior
planning
18
Developer
Start
Control
System
Console
Initial
Parameter
to
origin
Move
selected
Axis
Move
Robotic
Origin
parameter
Angular
value
*
*
*
*
*
*
Process
*
Arm
back
*
*
*
*
*
*
*
*
Initial
Function
*
*
*
*
*
*
Angular
value
of
each
Axis
*
*
*
Arm
Basic
Instruction
Figure
2.8
Analysis
model
of
class
diagram
2.6
HardwareAnalysis
and
Design
From
the
above
analysis,
this
thesis
aims
to
light
the
hardware
architecture.
There
are
two
main
objectives,
one
for
the
light
of
a
robotic
arm,
another
is
control
system
for
the
host.
Aspects
of
the
robotic
arm,
we
use
a
lighter
(about
8
kg)
of
five
-
axis
DC
motor
design
robotic
arm,
the
controller
also
uses
the
set
of
motor
auxiliary
equipment,
it
can
reduce
the
design
time
of
controller.
The
only
required
part
is
the
communication
interface
between
low
-
level
motor
controller
and
robotic
arm
control
system,
this
part
will
analysis
and
design
in
detail
in
later
chapters.
19
20
Another
thing
has
to
mind
is
using
what
for
the
host
control
system,
it
should
consider
light
-
weight,
so
the
weight
of
the
host
must
be
specially
designed,
it
will
analysis
and
design
in
the
following
sections:
2.6.1
Analysis
and
Design
Control
System
In
the
previous
analysis
of
this
thesis,
there
are
two
demands
on
the
host
hardware,
one
is
lighter
and
the
other
is
hardware
design
flexibility.
For
the
light
of
the
host
hardware,
no
more
than
two
ways,
one
is
adoption
of
lighter
device,
the
other
is
using
wireless
communication.
There
does
not
take
wireless
communication
in
this
thesis,
because
of
home
life
wireless
communication
often
have
many
obstacles
and
dead
ends,
also
often
disturb
by
other
electronic
equipments.
Furthermore,
since
the
arm
is
considered
a
high
safely
equipment,
so
construct
the
control
system
on
the
robotic
arm.
It
is
better
than
the
use
of
wireless
communications
in
the
remote
host.
As
for
the
hardware
design
flexibility
for
embedded
system,
is
the
best
different
from
the
general
common
characteristics
of
the
host.
Reduce
unwanted
hardware
and
module
design,
not
only
reduce
the
system
computation,
but
also
effective
in
reducing
the
weight
of
the
whole
system.
More
importantly,
also
reduces
the
overall
cost
of
hardware.
In
the
advance
of
chip
technology
and
hardware
design,
directly
to
construct
the
control
system
with
robotic
arm,
is
just
right
for
an
effective
program
for
general
household
consumer
products.
The
following
table
compares
the
difference
between
the
two
programs:
EmbeddedSystem
CommonPC
Weight
1kg
10kg
HardwareSupport
flexible
redundant
ComputingCapability
usable
high
Price
low
high
Learnability
hard
easy
Wireless
ok
ok
Table
2.8
Comparison
with
computer
2.6.2
Analysis
and
Design
Communication
Interface
Transmission
interface
is
divided
into
two
modes:
parallel
transmission
and
serial
transmission,
because
this
thesis
aims
modular
robot
hardware
design,
surely
there
must
be
quite
a
lot
of
hardware
modules.
Although
the
parallel
transmission
has
a
transmission
speed
advantages
of
fast,
but
High
hardware
complexity
interfere
vulnerability
of
high
-
frequency,
is
not
easy
to
expand
and
maintain,
so
this
thesis,
the
way
serial
transmission,
difficult
to
expand
and
maintain.
So
this
thesis
adopted
the
way
of
serial
transmission.
Present
common
sequence
transmission
interface
as
below
[8]:
I2C:
Use
master
-
slave
architecture,
to
develop
motherboards,
embedded
systems
to
connect
low
-
speed
peripherals
by
Philips
in
the
1980s.
I2C
uses
only
two
bi
-
directional
serial
data
(SDA)
and
serial
clock
(SCL).
RS
-
232:
U.S.
Electronic
Industries
Alliance
(EIA)
developed
the
standard
serial
data
communication
interface,
the
full
name
is
the
EIA
-
RS
-
232.
In
the
RS
-
232
standard,
the
character
string
is
a
sequence
of
bits
to
transfer
one
by
one.
The
most
common
encoding
format
is
non
-
synchronous
asynchronous
start
-
stop
format.
It
uses
a
start
bit
is
followed
by
7
or
8
data
bits,
this
may
21
be
the
parity
bit,
and
then
following
two
start
bits
element.
Two
-
way
interface
requires
only
three
lines
can
be
produced,
because
all
the
signals
of
RS
-
232
share
a
common
ground.
RS
-
485
:
Electrical
characteristics
under
the
standard
is
two
lines,
half
-
duplex
and
multi
-
point
communications.
The
electrical
characteristic
is
not
the
same
with
RS
-
232.
The
voltage
difference
between
the
wires
to
both
ends
present
of
signal
transmission.
One
pole
voltage
indicates
logic
―1‖,
another
indicates
logic
―0‖.
The
voltage
difference
effective
is
0.2V
above
the
minimum,
any
difference
more
than
12V
or
not
less
than
-
7V
of
the
receiver
are
considered
to
be
correct.
CANB
us:
CAN
is
short
for
the
Controller
Area
Network,
which
characteristics
is
allow
direct
communication
with
each
other
on
the
network
equipment.
The
network
does
not
require
the
host
control
communication.
CAN
is
set
out
in
the
1980
specifications,
and
standardized
in
1993
(ISO
11898
-
1),
is
widely
used
in
a
variety
of
vehicles
and
electronic
devices.
CAN
is
a
serial
bus,
it
provides
high
level
of
security
and
efficient
real
-
time
control.
Even
with
the
debugging
and
the
priority
determination
mechanism.
The
network
information
transmission
becomes
more
reliable
and
efficient.
Ethern
et:
Using
CSMA
/
CD
(Carrier
Sense
multiple
Access
with
Collision
Detection)
access
control
protocol.
That
is,
when
the
transmission,
the
transceiver
detects
whether
there
are
other
stations
to
send
messages
simultaneously.
In
the
event
of
conflict,
all
of
the
sites
are
immediately
stop
transmission.
Their
decision
is
to
wait
a
random
length
of
time
before
re
-
transmission.
The
purpose
of
random
waiting
time,
is
to
reduce
the
chance
of
collision.
22
US
B:
Universal
Serial
Bus,
USB
was
originally
launched
by
Intel
and
Microsoft.
Its
biggest
feature
is
hot
-
swappable
(Hot
Plug)
and
Plug
and
Play.
When
a
device
is
inserted,
the
host
enumerating
the
device
and
load
the
required
drivers.
The
following
table
is
the
simply
comparison
of
the
transmissions:
23
Highest
Longest
Advantage
length(m)
rate(Mbits/sec)
Most
points
Connections
transmission
Weakness
RS
-
232
interfere
Simple
、
Common
Use
、
Less
connection
15
1
3
Broadcast
、
Priority
1000
1024
2
0.1
CANBus
no
suitable
large
data
1
RS
-
485
not
immediately
、
no
filter
Simple
、
Fast
1000
32
Simple
、
Less
connection
0.5
127
2
0.1
I2C
short
range
2
3.4
Ethernet
not
immediately
250
Fast
、
Long
length
1024
8
100
USB
short
range
Fastest
、
Plug
&Play
、
Common
use
5
127
4
480
24
Table
2.9
Comparison
with
serial
transmission
Observation
of
the
above
analysis,
since
real
-
time
is
a
great
impact
on
safety
of
robotic
arm,
so
the
connection
of
non
-
real
-
time
is
not
used.
I2C
distance
is
too
short,
CANBus
with
poor
general
also
abandoned,
so
the
communication
interface
of
RS
-
232
and
USB
as
a
consideration
.Comparing
the
two,
due
to
USB
transfer
speed,
with
higher
commonality,
and
other
aspects
meet
the
necessary
requirements.
Therefore,
the
final
decision
is
USB
interface
as
a
robot
communication.
It
also
be
more
extensive
application
in
the
future.
2.6.3
Design
Hardware
The
specifications
are
as
follows:
Robotic
arm
motor:
Germany
"Faulhaber"
manufacturer,
DC
Motor
*
5.
Robotic
arm
motor
controller:
Germany
"Faulhaber"
manufacturers,
DSP
system
controller
*
5.
Robotic
arm
structure:
Taiwan's
"North
River"
company,
―rotate
-
swing
-
rotate
-
swing
–
rotate‖,
five
-
axis
Simulation
of
arm
structure.
Robotic
gripper:
Japan
"My
Gripper"
company,
parallel
gripper
type.
Communication
interface:
USB.
Control
System:
Taiwan
"DMA"
company,
Embedded
Systems
NAV270.
Development
of
test
platforms:
Taiwan
"ASUS"
company,
notebook
F8SP.
2.7
Software
Environment
Analysis
and
Design
Through
the
above,
the
software
is
mainly
portability
and
flexibility
of
design,
and
tend
to
easy
operate
and
resource
-
rich
software.
Since
machinery
equipment,
the
most
common
programming
language
is
still
C.
On
the
one
hand
is
the
C
language
is
a
good
first
programming
language
developed,
although
the
C
+
+
have
object
-
oriented
and
class
features,
but
in
fact
can
be
implement
by
C
language.
On
the
25
Eclipse
VisualStudio
CodeBlocks
BorlandC++
Free
Capability
High
High
Low
High
Cross
-
platform
Multi
-
language
Much
Much
Few
Few
Maintain
Much
Much
Few
Few
26
other
hand,
C
language
is
characterized
is
closest
to
the
low
-
level
language
high
-
level
language.
Therefore,
the
lowest
consumption
of
program
resources,
and
also
the
most
support
from
the
majority
of
hardware
In
addition
to
the
programming
language
used,
the
most
worthy
of
study
is
the
use
of
what
development
IDE
suite.
As
well
as
in
embedded
control
systems
use
the
"operating
system".
The
following
are
the
detailed
analysis
and
design
of
these
two
projects.
2.7.1
Analysis
and
Design
IDE
IDE
(Integrated
Development
Environment)
is
the
design
of
any
large
software
an
indispensable
tool.
If
only
to
design
simple
computer
tools
or
programs
like
―Hallo
World‖
can
be
completed
with
a
text
editor
in
fact.
But
IDE
has
many
convenience
aids,
such
as:
Graphics,
version
control,
direct
editing
and
debugging,
semantic
and
syntactic
tips,
view
of
class,
object
and
function.
A
wide
range
of
collaboration
tools
have
become
an
indispensable
element
for
software
development.
The
following
is
a
comparative
table
of
some
commonly
used
IDE:
Table
2.10
Comparison
with
IDE
27
From
the
table
above,
this
thesis
adopts
with
Eclipse
development
environment.
The
most
important
point,
that
has
excellent
cross
-
platform
special
system,
whether
in
Windows
or
Linux
operating
system,
several
versions
can
be
found
in
the
support
package,
as
well
as
multi
-
language
and
library
support,
so
that
expansion
of
the
system
development
can
also
be
easily
ported
and
maintenance
in
the
future.
2.7.2
Analysis
and
Design
Embedded
Operation
System
Analysis
by
the
hardware
design
of
embedded
system,
used
in
combination
with
the
software
must
be
suitable
for
some
embedded
"operating
system"
can
be
effectively
done
on
the
management
of
hardware
resources.
The
reason
why
the
special
label
"operating
system",
is
most
of
the
useful
operating
system
software
and
hardware
aspects
to
deal
with
computing,
resource
allocation,
GUI
and
equipment
needs.
In
general
personal
computer,
the
operating
system
is
synonymous
with
the
Windows
family
of
common,
or
Linux,
Ubuntu,
Fedora,
etc.
The
operating
system
installed
on
computer,
the
general
network,
instruments,
games,
applications,
probably
on
the
establishment
of
complete
However,
the
word
of
operating
system
for
embedded
systems,
but
the
term
encompasses
not
only
all
the
simple.
Most
of
its
split
into
three:
Kernel,
file
system
and
graphical
interface,
the
three
with
be
considered
as
the
general
user
understanding
of
the
operating
system.
Note
the
following
icons
embedded
Linux
system
architecture
diagram
with
common
software
tools.
Figure
2.9
Main
components
of
Linux
OS[9]
In
case
of
NAV270
hardware
used
in
the
embedded,
kernel
and
toolkits
to
original
proposal
selection
is
better.
After
all,
the
core
of
the
original
company
has
planning
software
is
the
most
used
of
hardware.
And
we
have
used
the
relevant
software
tools,
what
kind
of
the
underlying
kernel
and
toolkits
are
also
no
significant
differences.
So
we
used
Linux
kernel
2.6.9
and
Busybox
for
basic
tools.
The
graphical
interface
of
choice,
is
more
influence
the
system
scalability
and
operation.
From
the
user
point
of
view,
the
user
is
interacting
with
the
system
through
the
GUI.
It
should
benefit
from
the
use
and
high
reliability
of
GUI.
But
taking
into
consideration
the
hardware
aspects
of
embedded
system
memory
is
often
relatively
small.
Therefore,
light
-
weight
is
also
very
important
considerations
in
the
design
and
selection.
Suitable
for
embedded
hardware
NAV270
in
the
thesis
are
the
following
[10]:
XFree86:
The
product
is
a
free
repeat
distribution,
open
source
X
Windows
System.
Is
early
in
the
UNIX
/
UNIX
-
like
machines
and
equipment
on
the
28
most
commonly
used
Windows
system.
Advantage
of
packet
buffer
architecture
for
the
use
of
good
performance;
occupy
a
relatively
small
resources;
support
high
and
suit
for
expansion.
Unfortunately,
due
to
other
emerging
GUI
tools
more
powerful,
and
non
-
specific
embedded
system
architecture
development,
has
its
blemishes.
Microwindows:
Century
Software
developed
by
the
embedded
devices
a
GUI,
based
on
client
/
server
design
of
hierarchical
structure.
The
advantages
are
simple
code
design,
operating
speed
and
occupy
less
resource.
The
disadvantages
are
the
weak
networking,
application
for
expansion
and
related
resources
reference
less.
Qt
/
Embedded:
Developed
by
the
Trolltech
GUI
interface
for
embedded,
a
development
tools
based
on
cross
-
platform
Qt.
Support
for
various
UNIX
/
UNIXlike
or
Microsoft
Windows
systems.
Good
object
-
oriented
structure,
excellent
computational
speed
is
its
outstanding
advantages.
In
recent
years,
Qt
has
a
number
of
developments
in
several
fields.
In
software
and
hardware
aspects
of
a
high
degree
of
flexibility
and
scalability
support.
And
have
a
wealth
of
documents
and
resources
for
reference.
Brief
analysis
based
on
the
above
points,
the
final
embedded
software
system
GUI
interface
with
Qtopia
(Qt
Exteded).
Believe
after
the
implementation
is
complete,
development
of
more
advanced
applications
can
be
easily.
2.7.3
Design
Software
Specific
software
specifications
are
as
follows:
Programming
Language:
C.
Development
IDE:
Eclipse.
Development
of
the
operating
system:
Ubuntu.
29
Operating
system
kernel
of
control
platform:
Linux2.6.9.
File
system
of
control
platform:
Busybox.
GUI
of
control
platform:
Qtopia.
File
Transfer
Tool:
TFTP.
Transmission
test
software:
Docklight.
30
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[1]
D.
J.
Sun,
Y.
Wang,
Control
Technology
for
Robot
,
Jinghua,
,
China,
1998.
[2]
David
E.
Simon,
An
Embedded
Software
Primer
,
Addison
-
Wesley,
America,
1999.
[3]
Philippe
Gerum,
Karim
Yaghmour,
Jon
Masters,
Giliad
Ben
-
Yossef,
Building
Embedded
Linux
System
,
O’Reilly,
America,
2ed
Edition,
2008.
[4]
http://www.ilc.co.jp/en/Company/index.htm
,
embedded
product.
[5]
Quentin
Wells,
Guide
to
Digital
Home
Technology
Integration
,
Delmar,
America,
2009.
[6]
Naichia
Yeh,
A
Comprehensive
Guide
to
Writing
Theses,
Dissertations,
and
Research
Papers
,
Five
South,
Taiwan,
2004.
[7]
I.
Jacobson,
G.
Booch,
J.
Rumbaugh,
The
Unified
Modeling
Language
Reference
Manual
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Wesley,1999.
[8]
J.
M.
Chen,
―Design
of
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Modulation
of
a
Robotic
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Control
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M.S.
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National
Chung
Cheng
University,
Taiwan,
2008.
[9]
http://www.go2linux.org/
,
linux
architecture.
[10]
http://www.dmatek.com.tw
,
DMA
-
NAV270
user
manual.
[11]
J.
Y.
Chiu,
―Robotic
Arm
Operation
System
and
Human
Interface‖,
M.S.
Thesis,
National
Chung
Cheng
University,
Taiwan,
1996.
[12]
Fritz
Faulhaber
Gmbh,
Instruction
Manual
-
Motion
Control
System,
Germany,
4th
Edition,
2009.
[13]
NRC,
product
architecture
picture,
Taiwan,
2009.
[14]
M.
L.
Jin,
Robotics
,
Five
South,
Taiwan,
1998.
[15]
Yu
-
Jen
Chen
,
―The
Study
of
Visual
Tracking
for
An
Eyes
-
on
-
Hand
Robot‖,
M.S.
Thesis,
National
Chung
Cheng
University,
Taiwan,
1997.
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32
[16]
Daniel
P.
Bovet,
Marco
Cesati,
Understanding
the
Linux
Kernel
,
O’Reilly,
America,
3ed
Edition,
2005.
[17]
John
Catsoulis,
Designing
Embedded
Hardware
,
O’Reilly,
America,
2ed
Edition,
2005.
[18]
Sreekishnan
Venkateswaran,
Essential
Linux
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Drivers,
Person,
America,
2009.
[19]
Craig
Hollabaugh,
Embedded
Linux
-
Hardware,
Software,
and
Interfacing
,
Person,America,
2002.
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