Research On Intelligent Robot Based On Embedded System

With the rapid development of robotics technology, more and more robotics applications will come into people's living, such as some service robotics applications in homes and public service. Currently, the key problem that limits the popularization of the robotics applications is that robot is currently costly and power-consuming. Reducing the power consumption and cost price of robotic application is more important than developing the new technology in robotics. On the other hand, embedded system has some special advantage on reliability, low power consumption, low cost price and powerful over other system applied in robotics. This thesis investigates the problem of the application of embedded system in robotics and other relative research, then a open, modular and scalable robotics platform based on embedded system that developed by our research group is presented. The main contents in this thesis are as follows. (1) By means of analyzing the control architecture and embedded system, a control architecture of intelligent robots based on embedded system using multi-DSP is presented. This architecture has been applied in mid-sized soccer robot that developed by CASIA (Institute of Automation, Chinese Academy of Science). This platform implemented by using DSP TMS320C6711 as the main controller, instead of SPC and industrial control computer that commonly used in robotic controller. This architecture's cost price lowers 3-5 times than other architecture, and its power consumption is only 1/4-1/3 of traditional architecture. Some other detail of our design such as the interface of subsystem to main controller is presented also.(2) By means of analyzing and comparing some popular embedded operation system, the μC/OS-II is selected as the real time operation system on our robotic platform. μC/OS-II must be replanted into the main processor of the controller, then some sub module of task subsystem should be layout properly. The program architecture that control and manage the sub module on our platform is presented.(3) The embeded system that applied in Internet is discussed. By investigating the main subject of embeded internet--embeded TCP/IP protocol, a embeded network interface based on ether network controller AX88796 is presented. Because the LwIP TCP/IP protocol is transplanted into embeded operation system that our robots use, our robots have the ability to vistit networks.