| Dual-arm robot is widely used to assemble parts,move objects etc. in the cases which one manipulator is not qualified and dual-arm operation is required. As living standard is improving, smart dual-arm robot has a good future in entertainment industry, chess playing robot for example. However, control system of in operation robots is built based on Personal computer (PC) plus motion control board.With the performance of embedded microprocessors remarkably increasing, a new ARM-based control system of robots trends to replace traditional one based on PC plus motion borad because new control system with smaller size, lower power consumption and better portability can meet the same system performance.PCI bus is a high-perfomance 32/64-bit local bus with 264MB/s@66MHz highest data exchange rate.This paper introduces an ARM-based control system embedded with PCI bus interface to control SCARA manipulator. The control system takes S3C2510A with ARM940T core because S3C2510A has integrated PCI interface and SDRAM.Hence, the hardware design can be simplified because no special PCI interface chip is required. Consequently, the stability of control system can be enhanced. Ethernet interface,USB interface,JTAG interface and UART serial interface are also integrated into hardware of control system for increasing its functions. The schematic diagram and PCB board are completed in Protel. The hardware is tested. Finally, PCI driver is programmed in Linux OS and Bootloader and uClinux operating system are deployed to enhance performance of 32-bit microprocessor.The designed control system with PCI bus can not only be used to control dual-arm robot but also any device which needs PCI Bus interface. |
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