[ Special Issue : Engineering Design of ADBL ]

Journal of the Korean Society of Manufacturing Technology Engineers - Vol. 29, No. 3, pp.235-242

ISSN: 2508-5107 (Online)

Print publication date 15 Jun 2020

Received 13 Apr 2020 Revised 06 May 2020 Accepted 20 May 2020

DOI: https://doi.org/10.7735/ksmte.2020.29.3.235

인터프리터 기반 교육용 로봇을 위한 분산 제어 시스템 개발

김대원^a ; 박희재^a^{, *}

Development of Distributed Control System for Interpreter-based Educational Robot

Dae-Won Kim^a ; Hee Jae Park^a^{, *}

aDepartment of Mechanical Design and Robot Engineering, Seoul Nat’l Univ. of Science & Technology

Correspondence to: ^*Tel.: +82-2-970-6341 E-mail address: looki@seoultech.ac.kr (Hee Jae Park).

Abstract

In this study, a distributed control system for interpreter-based educational robot, which has a unique feature of stacking several additional modules, is developed. The central control unit uses a I2C bus to manage and control the additional modules attached to the robot. The program created by user is transferred to the base module via Bluetooth and executed by a JavaScript interpreter in the central control unit of the module. The multitasking feature of the robot allows the central control unit to execute the user program and run the background program that manages the modules. A method using timer-based scheduler to maintain the minimum required operating frequency of the background program is proposed. The effectiveness of the proposed method is evaluated experimentally. The results indicate that the proposed method guarantees the minimum required operating frequency irrespective of computational complexity of the user program.

Keywords:

Distributed control system, Interpreter, Educational robot, Multitasking, Block coding

Acknowledgments

이 연구는 서울과학기술대학교 교내연구비의 지원으로 수행되었습니다.

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Dae-Won Kim

Ph.D. student in the Department of Mechanical Design and Robot Engineering, Seoul National University of Science and Technology.His research interest is Mechatronics and Machine Learning.

E-mail: dwkim0825@naver.com

Hee Jae Park

Professor in the Department of Mechanical Design and Robot Engineering, Seoul National University of Science and Technology.His research interest is Mechatronics and Machine Learning.

E-mail: looki@seoultech.ac.kr