An event-driven operating system for servomotor control

Geoff Nagy, Andrew Winton, Jacky Baltes, John Anderson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Control of a servomotor is a challenging real-time problem. The embedded microcontroller is responsible for fast and precise actuation of the motor shaft, and must handle communication with a master controller as well. If additional tasks such as temperature monitoring are desirable, they must take place often enough to be useful, but not so frequently that they interfere with the operation of the servo. Since microcontrollers have limited multi-tasking capabilities, it becomes difficult to perform all of these tasks at once. It was our goal to create servo firmware with high communication speeds for humanoid robots, and our solution is generalizable to non-humanoid motor control as well. In this paper, we present an event-driven operating system for the Robotis AX-12 servomotor. By using interrupts to drive functionality that would otherwise require polling, our operating system meets the real-time constraints associated with controlling a servomotor.

Original languageEnglish
Title of host publicationRoboCup 2014 - Robot World Cup XVIII
EditorsKomei Sugiura, H. Levent Akin, Reinaldo A.C. Bianchi, Subramanian Ramamoorthy
PublisherSpringer Verlag
Pages285-294
Number of pages10
ISBN (Electronic)9783319186146
DOIs
Publication statusPublished - 2015
Event18th Annual RoboCup International Symposium, RoboCup 2014 - Joao Pessoa, Brazil
Duration: 2014 Jul 192014 Jul 24

Publication series

NameLecture Notes in Artificial Intelligence (Subseries of Lecture Notes in Computer Science)
Volume8992
ISSN (Print)0302-9743

Other

Other18th Annual RoboCup International Symposium, RoboCup 2014
CountryBrazil
CityJoao Pessoa
Period14/7/1914/7/24

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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  • Cite this

    Nagy, G., Winton, A., Baltes, J., & Anderson, J. (2015). An event-driven operating system for servomotor control. In K. Sugiura, H. Levent Akin, R. A. C. Bianchi, & S. Ramamoorthy (Eds.), RoboCup 2014 - Robot World Cup XVIII (pp. 285-294). (Lecture Notes in Artificial Intelligence (Subseries of Lecture Notes in Computer Science); Vol. 8992). Springer Verlag. https://doi.org/10.1007/978-3-319-18615-3_23