Research On Manipulator Subsystem Based On ARM Architecture

The main content of this thesis is to study the aerial camera manipulator subsystem on the airplane, which is an important part of aerial camera. The operators on the plane can send a series of commands to the manipulator to achieve the full aerial camera main system control and management, but also receive feedback information and display in real time on the LCD screen to complete the functions of communicating with aerial camera.First of all, we must complete the hardware of manipulator subsystem as the ARINC429bus is used in data communication between the aerial camera and manipulator devices, we choose ARM9microprocessors with fast processing speed and powerful fuction modules to finish the the communication and controlling main system of the manipulator.Meantime,we design the circuit schematic and PCB diagram.Secondly, in order to ensure the aerial camera manipulator subsystem,when being debugged,having the characteristics of simple operation, safety and reliability, real-time. Therefore, we choose μC/OS-Ⅱ operating system as the control core, and complete the transplantation in the ARM9S3C2440A processor with the μC/OS-Ⅱ operating system.Finally, we schedule uniformly each module task in the ARM9S3C2440A processor by using μC/OS-Ⅱ operating system in the ADS environment and complete the debugging of the manipulator subsystem. The test shows that the system has good stability and real-time and accomplishes the functional requirements.