Design And Study Of Robot Controller Software System Based On Java Virtual Machine

Robot controller is the key part of robot. The robot systems commercialized at present mostly adopt the special-purpose controller which close the structure. Such close system has limited the further research and application of the robot greatly. Setting up open, module advanced robot control platform is a developing direction of robot controller.At present, existing research works for open architecture robot controller concentrate on the definition of robot's controlling structure, moduling of system part, standardization of interface, raising software code reuse, efficiency, maintainability, exactness, procedure getting legible, providing convenience task describe and programming environment for user,etc. All-purpose languages is a general choice for robot programming. Java has got a large amount of application in robot with its excellent characteristic. The characteristic of Java, "one time compile, everywhere carry out", help to the robot controller opening.This paper research is a part of the education/amusement robot platform system with higher ratio of performance to price. This system adopts wheeled car body as robot noumenonn, offers sensor, sound and function of showing etc. This system offers figure programming tool in pc, can also programme with java directly. The core of this educate/amusement robot controller is a expanded control platform based on ARM and programming environment. The purposes of this paper are constructing Java running environment on embedded field prevailing 32 ARM processor, to make Java program can run in ARM processor, and offer API support to robot programming. This paper uses uClinux as the embedded operating system of controller of the robot, and transplants a java open-sourced virtual machine to the embedded system. This paper according to object-oriented thought, models robot programming with a three-level architecture based on four concepts: resource, behavior/motion, task.This using design patterns designes API for robot programming. Open platform for robot research such as behavior designing, movement control, task planing etc. is designed.