다관절 해저로봇 CR200의 연성 실시간 제어를 위한 원격 운용 소프트웨어의 구현

Abstract

This paper introduces remote operating software providing soft real-time control using software timer for a multi-legged subsea robot, named CR200, which is a 200m-class walking robot. The CR200 can work in shallow and strong tidal current and high turbidity environment by crawling sea floor using six legs to survey shipwreck and scientific research. Operators control the CR200 using various programs running on computers in the remote control unit. Operating software consists of agent program, pilot program, 3D viewer program, dynamics simulation program, navigation program, video program, scanning sonar program, acoustic camera program, and current monitoring program. Agent program is main program which interfaces remote control unit with the CR200, and calculates joint angle reference of legs by posture and gait algorithm. Agent program should support real-time characteristic because the CR200 needs 100 Hz control frequency to walk naturally. We have implemented soft real-time characteristic using software timer without real-time operating system. By experimental results, average of timer interval is exact 10 ms. Also, timing occurrence error is less than 171 us, and its standard deviation is 10.375 us. These results show that our approach without RTOS is enough to control the CR200 by 100 Hz frequency.