多連結移動ロボットのためのタフな通信システムの開発

抄録

This paper presents a tough communication system for an articulated mobile robot. The system which consists of many micro-computers can communicate servo motors via serial communications, gather sensor information, and detect errors of both communications and servo motors. Moreover, it decreases communication time between the robot and the computer for controlling the robot, and keeps operating without stopping even if communication error in micro-computers and actuators occurs.