The design of manned hexapod robot control system based on VxWorks

In this paper, a large manned hexapod robot is a research object which is based on the ARM core processor VxWorks real-time multi-tasking operating system and the manipulation of the robot control system's researches and designs. We use the CAN bus and RS485 bus communication interface that designed with high-performance remote data acquisition and control systems. The UcGUI is based on the embedded graphics support system that develops control system interface display. Test results showed that: the control system is capable of a 50ms period to collect real-time manipulation commands transmitting to the underlying control systems and can be completed in the next cycle underlying control system feedback data processing and display, which is fully able to meet the six foot robot control and status information monitoring.