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http://dx.doi.org/10.5302/J.ICROS.2009.15.9.946

Implementation of Operating Software for Small Multi-Jointed Robots  

Son, Hyun-Seung (홍익대학교 전자전산공학과)
Kim, Woo-Yeol (홍익대학교 전자전산공학과)
Kim, Young-Chul (홍익대학교 컴퓨터정보통신공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.15, no.9, 2009 , pp. 946-951 More about this Journal
Abstract
The small multi-jointed robots for most education are developed with the way of firmware. But the firmware may be very difficult to develop as gradually increasing throughputs and control routines. Due to limit of firmware we try to use on RTOS, but hard to adapt on the small multi-jointed robots. It would be hard to install RTOS into the small multi-jointed robots because of the size capacity of RTOS, and lack of libraries for control of the particular hardware. Moreover, even its RTOS with many functions causes its to make overheads scheduling, TCB (Task Control Block), and task states. Also to keep maintenance of RTOS, it is composed of components for the whole structure of my proposed RTOS. Additionally, We provided with libraries of servo motor and sensor control and developed RMS (Rate Montonic scheduler) to handle tasks on real time and reduce overheads. Therefore, It is possible to work the fixed priority and task preemptive way. We show one example of the multi-jointed robot installed with my proposed RTOS, which shows to obstacle avoidance and climbing up the slope.
Keywords
multi-joint robots; RMS (Rate Monotonic Scheduler); RTOS (Real Time Operating System); operating software; embedded system;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
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