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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Implementation of SOPC-based Reconfigurable Robot Controller

SOPC 기반의 재구성 가능한 로봇제어기 구현

  • 최영준 (인하대학교 정보통신공학부) ;
  • 박재현 (인하대학교 정보통신공학부) ;
  • 최기홍 (LG산전 자동화연구소)
  • Published : 2004.03.01
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Abstract

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.

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