Design Of The Embedded Control System Of A Reconfigurable Mobile Robot

While used in more and more application areas, robots are expected to be more diversified. But it is uneconomical and unrealistic either to design highly intellectualized robot which can satisfy most requirements or to develop special robot for special application. Research on extendibility, open and reconfiguration of mobile robot is a hot spot now.A kind of mobile robot controlled under ARM9 with embedded Linux is developed. Main control unit based on the ARM9 embedded Linux system is designed. Thus research on the reconfiguration of robot control system is done. According to the function requirements, system function is designed, and the reconfiguration framework of the mobile robot is presented. Forwardly, local task reconfiguration, real-time control, remote task reconfiguration and real-time control of the mobile robot are designed based on the platform of robot's control system. Also, reconfiguration and real-time control based on wireless communication control network of robots are studied.Based on local task reconfiguration, remote task reconfiguration and swarm-robot task reconfiguration on motion controller are investigated as following:1. Task reconfiguration is put out and task reconfiguration of robot is investigated.2. Control platform including boot, Linux kernel porting, driver of USB wireless network card repot are constructed based on ARM9 with embedded Linux.3. Embedded GUI is repotted. With the local task reconfiguration and real-time control platform are developed on touch screen, local task reconfiguration and real-time control of the robot is realized.4. With robot network server on Socket connection is designed, the remote task reconfiguration and real-time control of robot are realized.5. Task reconfiguration and real-time control of Swarm-robot are realized with a wireless communication control network is designed based on nRF905.