제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 2005년도 ICCAS
- /
- Pages.2296-2300
- /
- 2005
Real-time Message Network System for a Humanoid Robot
- Ahn, Sang-Min (School of Electrical Engineering, Inha University) ;
- Gong, Jung-Sik (Department of Automation, Inha University) ;
- Lee, Bo-Hee (Department of Electrical Engineering, Semyung University) ;
-
Kim, Jin-Geol
(School of Electrical Engineering, Inha University) ;
- Huh, Uk-Youl (School of Electrical Engineering, Inha University)
- 발행 : 2005.06.02
초록
This paper deals with the real-time message network system by a CAN (controller area network) based on the real-time distributed control scheme to integrate actuators and sensors in a humanoid robot. In order to apply the real-time distributed processing for a humanoid robot, each control unit should have the real-time efficient control method, fast sensing method, fast calculation and real-time valid data exchange method. Moreover, the data from sensors and encoders must be transmitted to the higher level of control units in maximum time limit. This paper describes the real-time message network system design and the performance of the system.