TY - GEN
T1 - An event-driven operating system for servomotor control
AU - Nagy, Geoff
AU - Winton, Andrew
AU - Baltes, Jacky
AU - Anderson, John
N1 - Publisher Copyright:
© Springer International Publishing Switzerland 2015.
PY - 2015
Y1 - 2015
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84958535538&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84958535538&partnerID=8YFLogxK
U2 - 10.1007/978-3-319-18615-3_23
DO - 10.1007/978-3-319-18615-3_23
M3 - Conference contribution
AN - SCOPUS:84958535538
T3 - Lecture Notes in Artificial Intelligence (Subseries of Lecture Notes in Computer Science)
SP - 285
EP - 294
BT - RoboCup 2014 - Robot World Cup XVIII
A2 - Sugiura, Komei
A2 - Levent Akin, H.
A2 - Bianchi, Reinaldo A.C.
A2 - Ramamoorthy, Subramanian
PB - Springer Verlag
T2 - 18th Annual RoboCup International Symposium, RoboCup 2014
Y2 - 19 July 2014 through 24 July 2014
ER -