Title :
Development of ARM-based Embedded System for Robot Applications
Author :
Yu, Shouqian ; Chen, Weihai ; Li, Li ; Qin, Jianglei
Author_Institution :
Sch. of Autom. Sci. & Electr. Eng., Beijing Univ. of Aeronaut. & Astronaut.
Abstract :
Based on the combination of advanced RISC microprocessor (ARM), DSP and ARM-Linux, this paper introduces an approach for developing embedded robot control systems. The design of embedded control system includes four aspects, i.e., system structure, functions, hardware, and software design. In the development of the system, some features are included such as hierarchy structure, modular hardware, and structured software, to make the system suitable for a variety of robot applications through some hardware adjustment and software customization only. The effectiveness of proposed approach has been verified by a straight line motion demonstration of a 6-DOF series manipulator
Keywords :
Linux; control engineering computing; digital signal processing chips; embedded systems; manipulators; reduced instruction set computing; systems analysis; 6-DOF series manipulator; ARM-Linux; ARM-based embedded system; DSP chip; advanced RISC microprocessor; embedded control system design; embedded robot control systems; software design; straight line motion; Application software; Control systems; Digital signal processing; Embedded system; Hardware; Manipulators; Microprocessors; Reduced instruction set computing; Robot control; Software design; ARM; Embedded control system; controller; robot application;
Conference_Titel :
Robotics, Automation and Mechatronics, 2006 IEEE Conference on
Conference_Location :
Bangkok
Print_ISBN :
1-4244-0024-4
Electronic_ISBN :
1-4244-0025-2
DOI :
10.1109/RAMECH.2006.252739
