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
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