2A1-C01 1チップマイコン搭載汎用オンボード移動ロボット制御システムの開発(車輪移動ロボット・メカトロニクス)

概要

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This paper describes the general-purpose onboard robot control system. This onboard system also has not only the computational function but also interface function such as A/D converter, motor driving capability, and communication capability with host computer. Two kinds of onboard systems are produced. One pursues the easiness of development, and the other is pursues the real time control. The after case uses a host microcomputer and multiple slave microcomputers according to the number of driving axis. The slave microcomputers are controlled by the host microcomputer connected by a wired/wireless telecommunication line. The I^2C bus is used for an inner bus lines. It connects the slave microcomputers and the host microcomputer. Several onboard systems has been designed and manufactured, and they are evaluated successfully by applying it for some robots.
一般社団法人日本機械学会の論文
2007-05-11