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.

fYear

2006

fDate

Dec. 2006

Firstpage

1

Lastpage

6

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/RAMECH.2006.252739

Filename

4018855