Design of a Robotic Arm Control System Based on Loongson Embedded Architecture

To address the challenges of low localization rate in robotic processor chips and data security risks associated with imported chips, this study develops an autonomous controllable robotic arm control system based on domestically developed and controllable chips. First, a three-level initialization process was implemented within the hardware architecture of the Loongson 2K1000LA master control chip. Subsequently, a layered real-time interrupt response software was developed, establishing an integrated measurement and control system for interaction with the host computer. Finally, trajectory tracking capability tests were conducted on the robotic system. Experimental results demonstrate trajectory tracking errors of 0.4667 mm, 0.4333 mm, and 0.3889 mm along the X/Y/Z axes respectively, with variances all below 0.0225. The system achieves interrupt response latency under 100 ns, trajectory planning response time below 0.8 ms, and maintains stable 1 ms -level control cycles. These findings validate the feasibility and reliability of domestic processors in robotic arm control applications, providing a secure and controllable solution for industrial automation systems.