Control of an Intelligent Robot via Embedded Systems
Date Issued
2007
Date
2007
Author(s)
Chen, Pei-Kang
DOI
zh-TW
Abstract
This paper utilized sensing system of artificial skin on an intelligent robot, which can react properly to the environmental changes and communicate tamely with humans.
Both pressure sensors and temperature sensing chips were applied to receive tactile information. Each sensor array consisted of a single chip, multiplexers and ADC, in order to scan and convert the signals to the operating systems. The robot was covered by several sensor arrays, and implemented with seven servomotors, a voice control circuit and a LED control circuit to demonstrate interactive responses.
In order to achieve portability, expansibility, low cost, low power consumption, reliability, and real-time operation, we utilized embedded systems to perform signal detection and reaction control of the robot. We selected ARM9 (S3C2410 MCU) as the kernel processor, and used Windows CE.NET 5.0 to built the operating platform. Application programs were designed by Embedded Visual C++ (EVC) to communicate with the sensing devices by RS232, and to control the output interface via the general purpose input/output (GPIO) interactively.
Subjects
嵌入式系統
智慧型機器人
人工觸覺
感測器陣列
Windows CE
Embedded Visual C++
embedded system
intelligent robot
artificial tactile
sensor array
Type
thesis
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