Clustering and Real-Time Analysis of Robot Controller Based on System on Chip
Based on the most prosperous System on Chip (SOC) in the field of microelectronics, the open and real-time robot controller was analyzed, the application and development platform was built. By means of representative evaluation index, cohesion and coupling, the modularized design and the open architecture of robot controller were implemented. It is proved that the average distance between the same modules is short, and therefore the system is better cohesive. And the average distance between different modules is long, and therefore less coupled. Consequently, the whole system is excellent in openness. At the same time, the real-time schedule of controller tasks is analyzed from theory and experiment It is proved that the controller based on SOC is excellent in realtime performance. The experiment showed that SOC-based robot controller is highly modularized, the parameters is clear, the architecture is easily implemented and revised, and therefore is adaptive to different controlling requirement and module building.
System on Chip Clustering Analysis Cohesion Coupling Real-Time
Jilin He Zheng Yuan Qinghua He
Intelligent Machinery Institute Central South University Changsha, Hunan, china Hunan Sunward Intelligent Machinery CO. ,LTD, Changsha, Hunan, china
国际会议
2010 6th International Conference on MENS NANO,and Smart System(2010年微机电纳米、智能系统国际会议 ICMENS 2010)
长沙
英文
117-122
2010-12-14（万方平台首次上网日期，不代表论文的发表时间）