【作者】 李柳；

【导师】 魏世民；

【作者基本信息】 北京邮电大学 ， 机械设计及理论， 2007， 硕士

【摘要】 作为一项蓬勃兴起的高新技术，机器人技术有其独特的优点而得到了广泛的应用。伴随着Internet、无线通讯技术和实时嵌入式技术的发展，机器人的远程通信控制系统已成为机器人技术新的研究应用方向。而嵌入式系统技术的不断进步又为机器人技术的发展起到了推波助澜的作用。本文主要介绍了基于微处理器LPC2292的嵌入式系统中远程机器人智能控制及综合应用。文章首先对嵌入式操作系统、ARM系统结构、uC／OS-Ⅱ操作系统以及课题中所采用的网络协议进行了系统的介绍；接着对ARM处理器核心进行扩展，实现了CAN总线、USB和网络设备的驱动，根据TCP和UDP协议的不同特点采取一种新的方法进行综合应用；同时在VC环境下完成对并联机构的调试界面设计，通过串口实现计算机与并联机构之间的通信，实现数据的读写通信；文章的最后还对论文的主要内容和不足之处进行了总结，并对下一步工作方向提出建议。更多还原

【Abstract】 As the hottest technology today, robot is used in a large number offields because of its flexibility and productivity. With the development ofInternet, wireless technology and embedded system, remote robotbecomes the new application of robot research.In this paper, an observing and intelligent controlling system forremote robot in embedded system based on uC/OS-Ⅱis presented. Thehardware platform is made up of LPC2292 and the software platform isbuilt based onμC/OS_Ⅱ.At first, embedded system based on uC/OS-Ⅱ, ARM architectureespecially the microprocessor of LPC2292 and the network protocols areintroduced. Then, ARM processor is expanded, the drivers to CAN bus,USB and network equipment are involved. A new method of synthesizingTCP and UDP protocol is presented for the system. Next, a debugginginterface for parallel mechanism is designed. Writing and reading databetween computer and parallel mechanism is realized by serial. After exploring the research subject, it summarizes the finished workand points out the technical orientation and approach for the futureresearch.更多还原