본문 바로가기
HOME> 논문 > 논문 검색상세

논문 상세정보

SOPC 기반의 재구성 가능한 로봇제어기 구현
Implementation of SOPC-based Reconfigurable Robot Controller

최영준   (인하대학교 정보통신공학부UU0001092  ); 박재현   (인하대학교 정보통신공학부UU0001092  ); 최기홍   (LG산전 자동화연구소  );
  • 초록

    Recently, a variety of intelligent robots are developed for the personal purpose beyond the industrial application. These intelligent robots have ranges of sensors, actuators, and control algorithms to their application. In this paper we propose a reconfigurable robot controller, $SR^2$ c (The SOPC-based Reconfigurable Robot Controller), based on SOPC (System on a Programmable Chip), that can be reconfigurable easily by software. The proposed robot controller contains not only a processing module but also robot-specific IP's. To show a feasibility of the proposed robot controller, a small entertainment robot, Wizard-4 is implemented with a single chip controller as proposed in this paper.


  • 주제어

    robot controller .   SOC (system on chip) .   hardware-software co-design .   FPGA.  

  • 참고문헌 (23)

    1. S. Cardelli, M. Chiodo, P. Giusto, A. Jurecska, L. Lavagno, and A. Sangiovanni-Vincentelli, 'Rapid-prototyping of embedded systems via reprogrammable devices', Proceedings of IEEE Conference on Rapid System Prototyping, pp. 133-138, 1996 
    2. Quartus II Software Quick Start Guide for Quartus II Software Version 2.1 Manual, Altera Inc. 2002 
    3. S. A. Ito and L. Carro, 'A comparison of microcontroller targeted to FPGA-based embedded applications,' Proceedings of IEEE Conference on Integrated Circuits and Systems Design, pp. 397-402, 2000 
    4. D. E. Simon, An Embedded Sofware Priner, Addison-Wesley, 2001 
    5. C. H. Roth, Jr., Digital Systems Design Using VHDL, Thomson Leaming, 1998 
    6. Navabi, Analysis and Modeling of Digital Systems, McGraw Hill, 1998 
    7. MC68360 QUad Integrated Communication Controller, Datasheet, Motorola Inc., 1993 
    8. 16bit Modular Microcontroller, Datasheet, Motorola Inc., 1996 
    9. XA 16-bit microcontroller family, Datasheet, Philips Inc., 2000 
    10. MMC2001 M.CORE Integrated Microcontroller, Datasheet, Motorola Inc., 1998 
    11. ARM7TDMI Core Processor, Datasheet, ARM Inc., 2001 
    12. Microcomputer Products. 16bit CISC H8S Family, Datasheet, Hitachi Inc., Chapter 7, 2003 
    13. Nios 2.1 cpu, Datasheet, Altera Inc., 2002 
    14. Altera Inc., 'Estimating nios resource usage & perfomance,' Application Note, 2002 
    15. J. Li and B. Hu, 'The architecture of fuzzy PID gain conditioner and its FPGA prototype implementation', Proceedings of IEEE Conference on ASIC, pp. 61-65, 1996 
    16. Avalon Bus Speciication Manual, Altera Inc. 2002 
    17. J. G. Bollinger and N. A. Duffie, Computer Control of Machines and Processes, Addison-Wesley, 1989 
    18. J. Becker, T. Pionteck, and M. Glsner, 'Adaptive system-on-chip: architectures, technologies and applications', Proceedings of IEEE Symposiun on Integrated Circuits and Systems Design, pp. 2-7, 1993 
    19. S. Knapp, D. Tavana, 'Field configurable system-on-chip device architecture', Proceedings of IEEE Conference on Custom Integrated Circuits, pp. 155-158, 2000 
    20. P. C. French and R. W. Taylor, 'A self-reconfiguring processor,' Proceedings of IEEE Workshop on FPGA for Custom Computing Machines, pp. 50-59, 1993 
    21. A. Kongmunvattana and P. Chongstivatana, 'A FPGA-based behavioral control system for a mobile robot,' Proceedings of IEEE Asia-Pacific Conference, Circuits and System, pp. 756-762, 2000 
    22. B. Garbergs and B. Sohlberg, 'Implementation of a state space controller in a FPGA', Proceedings of IEEE Mediterranean Electrotechnical Conference, pp. 566-569, 1998 
    23. R. Hartenstein, 'A decade of reconfigurable computing: a visionary retospective,' Proceedins of IEEE Conference and Exhibition on Design, Automation and Test in Europe, pp. 642-649, 2001 

 활용도 분석

  • 상세보기

    amChart 영역
  • 원문보기

    amChart 영역

원문보기

무료다운로드
유료다운로드

유료 다운로드의 경우 해당 사이트의 정책에 따라 신규 회원가입, 로그인, 유료 구매 등이 필요할 수 있습니다. 해당 사이트에서 발생하는 귀하의 모든 정보활동은 NDSL의 서비스 정책과 무관합니다.

원문복사신청을 하시면, 일부 해외 인쇄학술지의 경우 외국학술지지원센터(FRIC)에서
무료 원문복사 서비스를 제공합니다.

NDSL에서는 해당 원문을 복사서비스하고 있습니다. 위의 원문복사신청 또는 장바구니 담기를 통하여 원문복사서비스 이용이 가능합니다.

이 논문과 함께 출판된 논문 + 더보기