TY - GEN
T1 - A spherical intelligent robot control system based on double digital signal processing
AU - Shi, Lei
AU - Han, Baoling
AU - Luo, Qingsheng
AU - Luo, Xiao
PY - 2010
Y1 - 2010
N2 - 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 model-designing 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.
AB - 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 model-designing 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.
KW - Control system
KW - Double DSP
KW - Modularization
KW - Spherical intelligent robot
UR - http://www.scopus.com/inward/record.url?scp=78549250122&partnerID=8YFLogxK
U2 - 10.1109/IHMSC.2010.107
DO - 10.1109/IHMSC.2010.107
M3 - Conference contribution
AN - SCOPUS:78549250122
SN - 9780769541518
T3 - Proceedings - 2010 2nd International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2010
SP - 32
EP - 36
BT - Proceedings - 2010 2nd International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2010
T2 - 2010 2nd International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2010
Y2 - 26 August 2010 through 28 August 2010
ER -