کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
731671 893096 2006 13 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
MAS based embedded control system design method and a robot development paradigm
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی کنترل و سیستم های مهندسی
پیش نمایش صفحه اول مقاله
MAS based embedded control system design method and a robot development paradigm
چکیده انگلیسی

This paper summarizes a MAS based embedded control system design method for complex mechatronic system. Regarding the local controller as an agent-task and based on MAS viewpoint, a practical system can be modeled in firmware/software level. By using the multitasking capability of RTOS to realize the agent-tasks and using the system service of RTOS to construct the MAS’s coordination mechanism, we can implement the MAS in embedded system. A new tele-operation mobile robot, named PBJ-2, is introduced as a development example to explain this method. An improved MAS based manipulator control method is also presented in detail. The PBJ-2’s controller is built as an embedded system that running RTOS on an ARM7TDMI-S microcontroller. The whole development process is introduced in this paper, from the agents’ partitions and the MAS design to the actual hardware and firmware architectures design, in detail. By using the MAS based embedded control system design method, the development procedure is high efficiency and clear hierarchy. The ultimate goal of the work is to get seamless routes from system specifications to its implementation.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechatronics - Volume 16, Issue 6, July 2006, Pages 309–321
نویسندگان
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