Development of ARM-based Embedded System for Robot Applications

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

z
INTRODUCTION

z
STRUCTURE OF THE EMBEDDED SYSTEM

z
SYSTEM FUNCTIONS AND DESIGN

z
SOFTWARE DESIGN

z
EXPERIMENT STUDIES


CONCLUSION

3

Abstract


Based on embedded robot control systems

–
ARM

?
DSP

–
ARM
-
LINUX


De
sign of embedded control system

–
System structure

?
Functions

?
Ha
rdware

?
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

?
Hi
gh 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

z
S3C2410(ARM920T)

–
MMU

–
AMBA


APB

z
AHP

–
Harvard cache architecture


9

The architecture of S3C2410

10

Module Function and Design


Kernel

z
Device Manager

z
Graphic Windowing and Events Subsystem

z
Communication

z
Memory

z
Service

11

S3C2410

12

SOFTWARE DESIGN


Transplant OS

z
Driver

z
API

z
Disassemble and design multitasks

z
Control algorithms

13

EXPERIMENT STUDIES

14

EXPERIMENT STUDIES

15

CONCLUSION


Advantage

–
Reliability

–
Real
-
time

–
General
-
purpose capability


Weakness

–
Control arithmetic

–
Functions

–
Decision independently