Hardware and software architecture of a mobile robot with anthropomorphic arm

Abstract

The article presents the hardware and software architecture of the control of a mobile robot with anthropomorphic arm. The vehicle has an embedded system based in OS Linux, where is controlled all the functions of the vehicle using digital inputs and outputs, analog inputs and ports RS232. The architecture of the software in this system uses daemons; inter process communication (shared memory, FIFO arrays and semaphores) and an apache server to communicate with the remote control station. The remote station is a PC, where can be visualized three cameras, and to monitor and control all function of the robot with a gamepad or joystick. The architecture has been tested obtaining good results. It also presents a really good flexibility to integrate with different remote control stations in multiple platforms with security and standard protocols.