Development of ARM-based Embedded System for Robot Applications

Abstract

Based on the combination of advanced RISC microprocessor (ARM), DSP and ARM-Linux, this paper introduces an approach for developing embedded robot control systems. The design of embedded control system includes four aspects, i.e., system structure, functions, hardware, and software design. In the development of the system, some features are included such as hierarchy structure, modular hardware, and structured software, to make the system suitable for a variety of robot applications through some hardware adjustment and software customization only. The effectiveness of proposed approach has been verified by a straight line motion demonstration of a 6-DOF series manipulator