A Spherical Intelligent Robot Control System Based on Double Digital Signal Processing
When composing the control system of a spherical intelligent robot which is based on the image identification, a single chip control method does not have a fast data processing and high movement controlling capacity under the prerequisite of a small system, high precision and a fast response. This paper proposes a double-chip distribution control system based on the newly designed TMS320DM6437 and TMS320F28015 DSP chips, provides the hardware structure, type selection and the interface design of the system, by using a two-stage cache solves the CPU and memory bandwidth problems, and a reset circuit in order to improve the system reliability. The control software uses the modeldesigning plan that explored under the CCS V3.3 environment, according to its working procedure, carries out a performance test about the rotational station controlling and the signal transmitting reliability project. The experimental results demonstrate that the system deals information quickly, reliable data acquisition and fast dynamic response. The working period is less than 3.65s, and its control accuracy errors are within 0.477°, which can maximum fulfill the robot requirements of the performance.
spherical intelligent robot control system double DSP modularization
Lei Sbi Baoling Han Qingsheng Luo Xiao Luo
Weichai Power Co.Ltd.Weifang,P.R.China Beijing Institute of Technology Beijing,P.R.China Beijing Institute of Technology Beijing,P.R.China
国际会议
南京
英文
371-375
2010-08-26（万方平台首次上网日期，不代表论文的发表时间）