测试技术学报2005，Vol.19Issue(4)：377-382,6.
可重构的机器人数据采集与控制系统
An Integrated Robotic Data Acquisition and Control System with Reconfiguration
摘要
Abstract
A novel and feasible integrated robot data acquisition and control system based on reconfiguration and real time Linux operating system is presented. The integrated system, which is composed of PC104 based computer and FPGA device, can acquire and manage the data from different sensor, perform low level information fusion and control the Iow level hardware for a mobile robot. The communication between the integrated system and the host computer is based on Modbus protocol. This reconfigurable hardware is used as the interface between the robot's onboard computer and other components, which allows sufficient flexibility to accommodate a wide variety of sensors and actuators.This integrated system has been applied to a patrol robot, the results show the validation of the reconfiguration and real time performance.关键词
可重构/实时Linux/Modbus协议/机器人/数据采集Key words
data acquisition/reconfiguration/RTLinux/Modbus protocol/robot分类
信息技术与安全科学引用本文复制引用
曾德怀,谢存禧,李雪梅..可重构的机器人数据采集与控制系统[J].测试技术学报,2005,19(4):377-382,6.基金项目
广东省科技攻关项目(2004B10201010) （2004B10201010）
