제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)

  • 제10권3호
  • /
  • Pages.261-266
  • /
  • 2004
  • /
  • 1976-5622(pISSN)
  • /
  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
권호 표지
DOI QR코드

DOI QR Code

SOPC 기반의 재구성 가능한 로봇제어기 구현

Implementation of SOPC-based Reconfigurable Robot Controller

  • 최영준 (인하대학교 정보통신공학부) ;
  • 박재현 (인하대학교 정보통신공학부) ;
  • 최기홍 (LG산전 자동화연구소)
  • 발행 : 2004.03.01
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

Recently, a variety of intelligent robots are developed for the personal purpose beyond the industrial application. These intelligent robots have ranges of sensors, actuators, and control algorithms to their application. In this paper we propose a reconfigurable robot controller, $SR^2$c (The SOPC-based Reconfigurable Robot Controller), based on SOPC (System on a Programmable Chip), that can be reconfigurable easily by software. The proposed robot controller contains not only a processing module but also robot-specific IP's. To show a feasibility of the proposed robot controller, a small entertainment robot, Wizard-4 is implemented with a single chip controller as proposed in this paper.

키워드

참고문헌

  1. R. Hartenstein, 'A decade of reconfigurable computing: a visionary retospective,' Proceedins of IEEE Conference and Exhibition on Design, Automation and Test in Europe, pp. 642-649, 2001 https://doi.org/10.1109/DATE.2001.915091
  2. P. C. French and R. W. Taylor, 'A self-reconfiguring processor,' Proceedings of IEEE Workshop on FPGA for Custom Computing Machines, pp. 50-59, 1993 https://doi.org/10.1109/FPGA.1993.279479
  3. A. Kongmunvattana and P. Chongstivatana, 'A FPGA-based behavioral control system for a mobile robot,' Proceedings of IEEE Asia-Pacific Conference, Circuits and System, pp. 756-762, 2000 https://doi.org/10.1109/APCCAS.1998.743932
  4. B. Garbergs and B. Sohlberg, 'Implementation of a state space controller in a FPGA', Proceedings of IEEE Mediterranean Electrotechnical Conference, pp. 566-569, 1998 https://doi.org/10.1109/MELCON.1998.692491
  5. J. Li and B. Hu, 'The architecture of fuzzy PID gain conditioner and its FPGA prototype implementation', Proceedings of IEEE Conference on ASIC, pp. 61-65, 1996 https://doi.org/10.1109/ICASIC.1996.562751
  6. Avalon Bus Speciication Manual, Altera Inc. 2002
  7. J. G. Bollinger and N. A. Duffie, Computer Control of Machines and Processes, Addison-Wesley, 1989
  8. J. Becker, T. Pionteck, and M. Glsner, 'Adaptive system-on-chip: architectures, technologies and applications', Proceedings of IEEE Symposiun on Integrated Circuits and Systems Design, pp. 2-7, 1993
  9. S. Knapp, D. Tavana, 'Field configurable system-on-chip device architecture', Proceedings of IEEE Conference on Custom Integrated Circuits, pp. 155-158, 2000 https://doi.org/10.1109/CICC.2000.852639
  10. Nios 2.1 cpu, Datasheet, Altera Inc., 2002
  11. Altera Inc., 'Estimating nios resource usage & perfomance,' Application Note, 2002
  12. ARM7TDMI Core Processor, Datasheet, ARM Inc., 2001
  13. Microcomputer Products. 16bit CISC H8S Family, Datasheet, Hitachi Inc., Chapter 7, 2003
  14. MMC2001 M.CORE Integrated Microcontroller, Datasheet, Motorola Inc., 1998
  15. MC68360 QUad Integrated Communication Controller, Datasheet, Motorola Inc., 1993
  16. 16bit Modular Microcontroller, Datasheet, Motorola Inc., 1996
  17. XA 16-bit microcontroller family, Datasheet, Philips Inc., 2000
  18. S. A. Ito and L. Carro, 'A comparison of microcontroller targeted to FPGA-based embedded applications,' Proceedings of IEEE Conference on Integrated Circuits and Systems Design, pp. 397-402, 2000 https://doi.org/10.1109/SBCCI.2000.876061
  19. D. E. Simon, An Embedded Sofware Priner, Addison-Wesley, 2001
  20. C. H. Roth, Jr., Digital Systems Design Using VHDL, Thomson Leaming, 1998
  21. Navabi, Analysis and Modeling of Digital Systems, McGraw Hill, 1998
  22. S. Cardelli, M. Chiodo, P. Giusto, A. Jurecska, L. Lavagno, and A. Sangiovanni-Vincentelli, 'Rapid-prototyping of embedded systems via reprogrammable devices', Proceedings of IEEE Conference on Rapid System Prototyping, pp. 133-138, 1996 https://doi.org/10.1109/IWRSP.1996.506740
  23. Quartus II Software Quick Start Guide for Quartus II Software Version 2.1 Manual, Altera Inc. 2002