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Vicente Egea, Jorge Garrido, Roberto Guzm?, Ranko Zotovic

Roberto Guzman ǻͰ( ý) Ͽϴ. Universidad Politecnica de Valencia ý ڵȭа κƽо ȰϿϴ. Hagen ִ FernUniversitaet μ μ Ͽϴ. TMC-Electronics ߺο ٹϰ ֽϴ.

Ranko Zotovic Դϴ. κ̳ ۱, ǰ 踦 ϰų ۵ Ⱓ ֽϴ. Universidad Politecnica of Valencia ý ڵȭа κƽ CAD/CAMо߸ Ű ֽϴ.

Jorge Garrido Serrano ǻͰ( ý) Ͽϴ. PCBot Ʈ ڻ غϰ ֽϴ. Bancaja prize for Partnerships with Industry ִ ״ FernUniversitaet - Hagen Ʈ "MobiNet"(ǷῬ ̵κ;Mobile Robotics Technology for Health Care Research) Ͽ ϰ ֽϴ.

Vicente Egea Mañas ǻͰ( ý) Ͽϴ. PCBot ϵ ϰ Ͽ Bancaja prize for Partnerships with Industry Ͽϴ. TGI ٹϰ ֽϴ.


ڿ ϱ:

:

ιݼ
Ʈ Ű


ιݼ

Abstract: ֱ ⵿ ̵κõ о߰ ̰ ֽϴ. κƽ,īƮδн, ΰɰ õ а鿡 ̼۷κ ϰ ֽϴ. ݱ ߿ ҿǴ ̵ װ̳ 繫 Ǵ ڷ» ѵǾ Ǿ Խϴ. ׷ ̺о߿ ȭ 帧 ,,񽺾,,Ƿ о߷ ҰǸ鼭 ̿ о ֽϴ. ̷ ޼忡 û κ̱ Դϴ.


۵Ǿ Ǹ ιݼ(AGV;̵κ ) κ ̸鼭 ϵ Ʈ Ͽ ̰ ְ ڷᵵ ϸ Ƿ ϱⰡ ƴ.

ý ڵȭ а ιݼ ǿ ϱ Ͽ. ۵ ιݼ οǻͰ Ȱϱ Ͽ PC ϴ Ͽ. ο PC ϵ Ʈ 鿡 , , ȣȯ, پ缺 Ȱ뼺 ϴ. ǽð Ȯ ǽð Ʈ ִ Ǿ.

۵ ιݼ PCBot 1.0

۵ ý ΰ ϱ Ǿ ִ. δ ޸ ɻ̳ ũ а ϴ. ߽ ӵ Ϸ 츮 ð ӵ ؾ Ѵ.

ý ũ ΰ .: ϴܺο ̰ ǰ ְ, ܺο ſ õ ǰ ִ. ϴܺδ ˷̴ ġǾ. ⿡ ӱ, , ڴ, (Power Plate), °ġ ͸ ġǾ ִ. ܺο ī ÷ǵ̺갡 ޸ ο PC κ尡 Ǿ ִ.

۵ ιݼ PCBot

ϵ ŰĿ ī ϳ Ͽ ͸ ִ ִ. Ʈ ī峪 PC ٷ ִ. Ʈ Ͽ ýۿ ī Ʈ ռ Ͽ.

ϵ Ű

ιݼ ϱ ܺǻ(ȣƮ) ȴ. ޷ִ PC ۸ɰ ī Ѵ. ī · û ϰ ̸ ǿ Ѽ Ϳ ޵ȴ. ġ(ڴ) ̿Ͽ ִ. ī Ͽ ͸ Ѵ.

Ʈ Ű

ιݼ ۵Ϸ ù° Ŭ Ʈѽý(closed-loop control system)̾ Ѵ. ̷ ý ð ӵ ݸ  Ͽ Ȯ  ǵ ش. ° Ȳ ֱ ŵǾ Ѵ. ιݼ ߽ġ ϱ Ͽ º  ˾ƾ Ѵ.

ΰ 䱸 Ϸ ǽð ü ؾ Ѵ. ǽðü Ӹ ƴ϶ ð ִٴ Ư¡ Ȯ ý̴.

PCBot ϱ Ͽ ƮŰĿ Ŀ 2.0.33 ǽð Ȯ(0.6) ̿Ͽ.

ŸӸ(RT-Linux) ü ̿Ͽ ڵȭ ȸ ư α׷ ϴ . ڸ .:

ǽð ü ǽð ߽ ǻͻ̾𽺺 Victor Yodaiken Michael Barabanov ߵǾ. Ʒ ׸ ϰ Ÿ ̴. ǽð Ŀ ϵ ۵ȴ. 켱 췯 ǽð ϵ ̿ ִ ٿ ۾ Ѵ. 췯 忡 ϳ ǽð ۾̸鼭 켱 ۾̴. ð ְ ǰ ȴ.

ǽð ý RT-Linux

PCBot Ʈ ŰĴ ߾˷ִ Ŭ̾Ʈ- 𵨿 ΰ ִ. κ ۵ϸ ġ ۵ϴ Ŭ̾Ʈ û ٷ ȴ. Ŭ̾Ʈ TCP/IP ̿Ͽ.

ſ TCP/IP ϸ κ ȣƮ ϴ üκ ִ. Ŭ̾Ʈ ڷκ ޾Ƽ ɵ κ Ѵ. ɿ , û 3 ִ. Ŭ̾Ʈ Է¸ ȮϿ ޽ ۼ, Ͽ ȴ.

Ŭ̾Ʈ ٸ. ѹ ̷ ۾ ϱ ǽð ٲ ȴ. ǽð κ ޵Ǵ Ѵ. ׸ ý Ű ó Ѻ鼭 ý ϰ ȴ.

Ʈ Ű

Ʈ ũ κκ ȴ. ϳ ü ϴ κ̸ ٸ ϳ ׶׶ 䱸 ǽð (ǽð ) Ǵ κ̴. ̸ ιݼ ġ ο PC ִ. ðû ̷ ʿ䰡 ι° α׷ Ŭ̾Ʈ ġ PC ʾƾ Ѵ.

ǽð  ֱ ǽð(۸ɰ ۾) (̹ ) ȴ.

ȣ ǽð ϵ ش. 츮  ȣ ؾ ߴ. ù° Ʈ ī ϴ ͸ ̿ϴ ̴. ͸ ϴ ִµ ۾ ٸ ȿ ʴ Ͱ Ϳ ϵȴ. °, äⰡ Ǹ ȵDZ ̴.  ̷ Ѵ.

3 ǽð-FIFO ť ŸӸ Ѵ. ť Ŭ̾Ʈκ ۵ Ѵ. ǽð ޵Ǿ  Ȳ ˷ ʿ伺 2 ť ̿Ѵ.

̺Ʈ :ڰ ڿ ִ PCBot ϱ Ͽ Ŭ̾Ʈ μ Ѵ. ɵ ԷµǸ Ŭ̾Ʈ ϰ װ Ѵ. ó ޽ ޾Ƽ ǽð-(fifo/first in first out) Ͽ ǽð ⿡ ޽ ϱ Ͽ ٽ ó ģ.

̹ ǽð Fifo Բ ٷ. ۵ ʿϸ ̹ õ ǽð ۾ ۵Ų Ȯθ޽ . ۾ ͸ ۵۵ ʿ ൿ ϸ鼭 ȴ.

۸ ϰ ڴ ¸ ûϰų ִ. ̷ ̹ аų 鼭 û ϰ ȴ.

ǽð ۾ ̹ Ǵ ġϰ ִ. ۾鰣 ϸ鼭 ż ϰ ش. Ư ιݼ ¿ ġߴ ȲӸ ƴ϶ ȭ ˷ش.

Ʈ Ű - ý

PC ⺻ ϴ ý ŰĴ , ϵ Ʈ ׷̵ Ʈ ̿ ְ ۾ ϴ ɷ¸鿡 ִ. ϵ ȭ ʴ´. ֳϸ 峭 κ̳ ô뿡 ڶ ǰ ֽŰ ٲָ ٷ ǰ Ǹ ִ Ʈ ȣȯ DZ ̴.

װ ǽð Ȯ RT-Linux ſ ̾. 츮 ƹ ߰ wpe( α׷ ȯ;Windows Programing Environment)̳ GNU CϷ ſ GNU ߵ ־.

ϴ ý ǰ ý̶ ־Ӹ ƴ϶ ġ ڿ ſ ȿ ־. 츮 ܼ 486PC Ͽ Ͽµ ߽ð̳ ɸ鿡 ٸ ̳ Ҹ ʾҴ.( ġ ڰ ߴ.) ý Ȱ뵵 мغ ־ 쿡 CPUð 70%.

Ʈ Ʈ ̷Ƿ ҽ ̿ ִ. ̰ ǽð Ŀ ۿ ſ ִ Ⱑ Ǿ ο ܰ ö󼭱 ɼ Ȱ¦ ־. (ٸ ð ̳ ǽð ̹ ) ̷ ιݼ ǹӿ ߾ κе̴.

ǽð Ŀ ý ȣ ̿ϴ ȭ ̸ ſ ̿Ͽ ׸ ǽð ־.

ϴ 츮 ǽð õ ϸƮl ȸ Բ ޾ û ̿ ־.

http://www.rtlinux.org

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