Robot Control System Based on Distributed Embedded Systems

Abstract

A solution to robot control system architecture based on distributed embedded system organization is proposed here. The functions in a system are distributed to different subsystems, each of which is an embedded system with the same computing core structure. The architecture of this distributed system as a hierarchical subsystem structure, in which each entry is a subsystem and is connected by a network for data translation. The TCP/IP protocol is used in the network to give a robust communication protocol. In addition, each subsystem is a module with at least one of special functions that other module without it. Therefore, function expending is easy achieved by connecting another module with a new function. All subsystem has the same computing core running Linux operating system as each other.