An event-driven operating system for servomotor control

Geoff Nagy, Andrew Winton, Jacky Baltes, John Anderson

研究成果: 書貢獻/報告類型會議貢獻

摘要

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.

原文英語
主出版物標題RoboCup 2014 - Robot World Cup XVIII
編輯Komei Sugiura, H. Levent Akin, Reinaldo A.C. Bianchi, Subramanian Ramamoorthy
發行者Springer Verlag
頁面285-294
頁數10
ISBN(電子)9783319186146
DOIs
出版狀態已發佈 - 2015
事件18th Annual RoboCup International Symposium, RoboCup 2014 - Joao Pessoa, 巴西
持續時間: 2014 七月 192014 七月 24

出版系列

名字Lecture Notes in Artificial Intelligence (Subseries of Lecture Notes in Computer Science)
8992
ISSN(列印)0302-9743

其他

其他18th Annual RoboCup International Symposium, RoboCup 2014
國家巴西
城市Joao Pessoa
期間14/7/1914/7/24

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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