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Development of ARM-based Embedded System for Robot Applications

Development of ARM-based Embedded System for Robot Applications. 教授：曾慶耀 教授 學生：阮泓璋 學號： M97670020. OUTLINE. ABSTRACT INTRODUCTION STRUCTURE OF THE EMBEDDED SYSTEM SYSTEM FUNCTIONS AND DESIGN SOFTWARE DESIGN EXPERIMENT STUDIES CONCLUSION. Abstract. Based on embedded robot control systems

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Development of ARM-based Embedded System for Robot Applications

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  1. Development of ARM-based Embedded System for Robot Applications 教授：曾慶耀 教授 學生：阮泓璋 學號：M97670020

  2. OUTLINE • ABSTRACT • INTRODUCTION • STRUCTURE OF THE EMBEDDED SYSTEM • SYSTEM FUNCTIONS AND DESIGN • SOFTWARE DESIGN • EXPERIMENT STUDIES • CONCLUSION

  3. Abstract • Based on embedded robot control systems • ARM • DSP • ARM-LINUX • Design of embedded control system • System structure • Functions • Hardware • Software design

  4. INTRODUCTION • Application of robots • Outer space exploration • Ocean resource exploitation • Two parts of robots • Mechanical body • Control system

  5. STRUCTURE OF THE EMBEDDED SYSTEM • Embedde system • Functions • Reliability • Cost • Size • Power consumption

  6. The characteristics of embedded systems • Software • Closely relative to the hardware • High efficiency • High reliability • FLASH • Hardware • Small size and high integration • Low power consumption • Fine electromagnetic compatibility performance

  7. SYSTEM FUNCTIONS AND DESIGN • Main purpose of multi- robots • Size • Weight • Power consumption

  8. Hardware Architecture • Robot • S3C2410(ARM920T) • MMU • AMBA • APB • AHP • Harvard cache architecture

  9. The architecture of S3C2410

  10. Module Function and Design • Kernel • Device Manager • Graphic Windowing and Events Subsystem • Communication • Memory • Service

  11. S3C2410

  12. SOFTWARE DESIGN • Transplant OS • Driver • API • Disassemble and design multitasks • Control algorithms

  13. EXPERIMENT STUDIES

  14. EXPERIMENT STUDIES

  15. CONCLUSION • Advantage • Reliability • Real-time • General-purpose capability • Weakness • Control arithmetic • Functions • Decision independently

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