Motion control for rescue robot based on PC104 and CPLD

Author

Wang Xiao-hong ; Yu Xiao-Xin ; Tian Lian-fang ; Zhang Qin ; Gang Yi

Author_Institution

Inst. of Autom., South China Univ. of Technol., Guangzhou, China

fYear

2009

fDate

15-16 May 2009

Firstpage

317

Lastpage

320

Abstract

The paper mainly introduces hardware accomplishment of rescue robot motion control system based on PC104 computer and CPLD, and describes in detail the implementation method of the hardware part for multi-motor of robot motion control system. PC104 computer, having advantages such as less space, flexible configuration, and high reliability, is applied as CPU of the robot due to its limited space. The CPLD with anti-jamming is used to accomplish all kinds of logic control circuits. In addition, the paper describes analog data acquisition system based on AD7891.The experimental result indicates that motion control system is suitable and reliable to be embedded in robot and is effective.

Keywords

data acquisition; mobile robots; motion control; AD7891; CPLD; PC104; analog data acquisition system; motion control; multimotor; rescue robot; Circuits; Control systems; DC motors; Hardware; Motion control; Orbital robotics; Robot control; Robot kinematics; Robotics and automation; Surface fitting; CPLD; PC104; acquisition; data; motion control; rescue robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Mechatronics and Automation, 2009. ICIMA 2009. International Conference on

Conference_Location

Chengdu

Print_ISBN

978-1-4244-3817-4

Type

conf

DOI

10.1109/ICIMA.2009.5156625

Filename

5156625