【作者】 于在兰；

【导师】 付宜利；

【作者基本信息】 哈尔滨工业大学 ， 机械电子工程， 2006， 硕士

【摘要】 当前,嵌入式系统被广泛应用于信息家电、移动设备、网络设备和工业控制、医疗仪器等领域,市场前景广阔。随着嵌入式设备在人们日常生活中日益广泛的使用,人们对高性能嵌入式系统的要求也越来越迫切。因此,对嵌入式系统的关键技术的研究有相当重要的实际意义。本文以康复机械手的开发为研究背景,结合嵌入式系统开发的关键技术,主要论述了康复机械手嵌入式Linux系统平台的构建和基于MiniGUI的控制软件的设计与实现。论文的主要内容包括:首先,在深入研究嵌入式系统的发展现状、详细分析系统开发特点和过程的基础上,结合Linux自身的优点,选择用Linux操作系统搭建康复机械手嵌入式系统。通过编译安装引导程序、定制内核和制作文件系统,完成嵌入式Linux软件平台的构建,同时在PC机上建立交叉开发环境。其次,通过比较嵌入式Linux下几种典型的GUI系统的优缺点,选择了面向嵌入式应用的轻量级图形用户界面支持系统MiniGUI作为开发支持系统;重点分析了MiniGUI的体系结构、消息机制和面向对象技术的应用,并采用模块化设计思想,完成了康复机械手应用软件的结构设计,使软件具有可扩展性;基于MiniGUI完成了用户界面系统的设计,并把电机控制模块、数据采集处理及转存模块和附加功能模块有机融合到界面显示模块中,实现了对手指关节的活动范围、关节力、速度的精确控制和实时数据采集。最后,通过交叉编译和移植,完成了嵌入式应用软件从宿主机到目标板的移植,证明了该软件具有良好的可移植性。联机调试,针对不同的参数设置,对本系统进行了大量的测试,验证了软件的可靠性和合理性。更多还原

【Abstract】 Now, embedded system which is widely applied in the fields of Information Appliance, mobile device, network device, industrial control and medical instrument has a prosperous future. People have an urgent demand of embedded system with high capability as embedded device is widely used in people’s daily life. So it is significant to study the key technologies of embedded system.With the development of rehabilitation manipulator as the background of studying and combining the key technologies of embedded system, the paper mainly describes the design of embedded Linux operating system and the research on control software based on MiniGUI.Through studying the situation of the development of embedded system, particularly analysing the characteristics and processes of the developing and combining the advantages of Linux, the author choosed Linux as embedded operating system and finished building the platform of software through compiling and installing bootloader, reducing kernel and making file system. At the same time, the author built the cross-compiling circumstance on PC.Through the analysis of advantages and disadvantages of several typical GUI systems under embedded Linux, the author choosed light-weight MiniGUI as developing supporting system which is open to embedded application. Based on the analysises of MiniGUI, the framework of recovering hand’s software was designed by modules. The author finished the design of user interface based on MiniGUI, syncretized motor control, data sampling and saving and other mudules into Graphic User Interface. And it could control the range, force and velocity of joints precisely, sample real-time data.Finally, the software of embedded system was successfuliy transplanted from PC to target board, which proves it has good capacity of transplant. To different parameters, the author did a lot of experiments through online test. And it verifies that the design of the software is reliable and reasonable.更多还原