Clustering and Real-Time Analysis of Robot Controller Based on System on Chip

Abstract:

Based on the most prosperous System on Chip (SOC) in the field of microelectronics, the open and real-time robot controller was analyzed, the application and development platform was built. By means of representative evaluation index, cohesion and coupling, the modularized design and the open architecture of robot controller were implemented. It is proved that the average distance between the same modules is short, and therefore the system is better cohesive. And the average distance between different modules is long, and therefore less coupled. Consequently, the whole system is excellent in openness. At the same time, the real-time schedule of controller tasks is analyzed from theory and experiment. It is proved that the controller based on SOC is excellent in real-time performance. The experiment showed that SOC-based robot controller is highly modularized, the parameters is clear, the architecture is easily implemented and revised, and therefore is adaptive to different controlling requirement and module building.

• Periodical: Advanced Materials Research (Volumes 403-408)
• Pages: 3797-3804
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.403-408.3797
• Online since: November 2011
• Authors: Ji Lin He, Zheng Yuan, Qing Hua He
• Keywords: Clustering Analysis (CA), Cohesion, Coupling, Real-Time, System on Chip (SoC)

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DOI: 10.1145/235968.233324