中国科学院自动化研究所机构知识库

The controller is one of the key components of the robot system. The general-purpose controller usually uses multiprocessor scheme with master-slave structure or distributed structure. This kind of scheme is complex and high-cost. It is difficult to adapt to the design requirements of embedded miniaturized robots. In view of this situation, this paper proposes a controller design based on dual-core dual-operating system, solving various real-time and non-real-time tasks in robot control through a single chip. According to the design requirements, a dual-core chip ZYNQ works as the core of the controller hardware platform. Linux and FreeRTOS are transplanted as master-slave system on different core, and the asymmetric multiprocessing (AMP) architecture is introduced as the working framework of the dual-core processor. After that, the key technologies of ZYNQ running under the AMP architecture are analyzed, including the allocation of shared resources, the dual-core booting mode and the dual-core communication mode. Finally, using the open source architecture OpenAMP to transplant the Linux+FreeRTOS dual system and achieve parallel running. The communication capability and real-time performance of the dual system are tested, and the results verify the effectiveness of the controller.