Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Implementation of Operating Software for Small Multi-Jointed Robots

소형 다관절로봇을 위한 운용 소프트웨어 구현

  • 손현승 (홍익대학교 전자전산공학과) ;
  • 김우열 (홍익대학교 전자전산공학과) ;
  • 김영철 (홍익대학교 컴퓨터정보통신공학과)
  • Published : 2009.09.01
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Abstract

The small multi-jointed robots for most education are developed with the way of firmware. But the firmware may be very difficult to develop as gradually increasing throughputs and control routines. Due to limit of firmware we try to use on RTOS, but hard to adapt on the small multi-jointed robots. It would be hard to install RTOS into the small multi-jointed robots because of the size capacity of RTOS, and lack of libraries for control of the particular hardware. Moreover, even its RTOS with many functions causes its to make overheads scheduling, TCB (Task Control Block), and task states. Also to keep maintenance of RTOS, it is composed of components for the whole structure of my proposed RTOS. Additionally, We provided with libraries of servo motor and sensor control and developed RMS (Rate Montonic scheduler) to handle tasks on real time and reduce overheads. Therefore, It is possible to work the fixed priority and task preemptive way. We show one example of the multi-jointed robot installed with my proposed RTOS, which shows to obstacle avoidance and climbing up the slope.

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References

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