임베디드 시스템 기반의 보행로봇 제어기 개발

Abstract

In this paper, we have made a new motion controller and the embedded ARM board to control the biped walking robot. As a control system for the robot, a distributed control system composed of the main controllers and the motor controller for the robot using the one-chip microprocessor were developed. The main controller and the motor controller composed as a distributed control system were developed using the embedded ARM board and the TMS320c2407 processor, respectively. A new trajectory tracking algorithm for the motor controller appropriate for the one-chip microprocessor was devised employing pre-generated off-line trajectory data. Also, the robot composed of an operation system of the ARM board based on the real-time LINUX was developed. In addition to these, a CAN communication system was developed to process the complex control system. Some tests and their results were presented to validate superior performance of the developed system.