인터프리터 기반 교육용 로봇을 위한 분산 제어 시스템 개발

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.