“组态王”在基于CAN总线的分布式控制系统中的应用

简述了基于CAN总线分布式控制系统的结构，并介绍了组态软件在现场总线控制系统中的作用，给出了组态王6．51组态软件开发监控程序的一般方法，重点分析了组态软件在基于CAN总线的分布式控制系统中的详细设计和开发应用的过程。     

一种机器人嵌入式网络化控制系统体系结构的研究

针对机器人控制系统，探讨了基于串行总线的网络化控制系统的优缺点，提出了一种新的以ARM和FPGA为核心的机器人分布式多CAN总线控制系统体系结构．该体系结构有效地降低了网络化控制系统中对总线带宽的需求，可以实现对控制信息的分级处理和实时的伺服控制．还设计了基于FPGA的多CAN总线控制器，介绍了基于Linux的机器人控制软件体系结构的实现方法．最后，在模块化机器人中的应用表明该网络化控制系统体系结构是可行的．     

CAN总线在现场总线控制系统中的应用

本文通过介绍CAN(Controller Area Network．控制器局域网)总线技术在FCS(Fieldbus Control System现场总线控制系统)中的应用。阐述了CAN总线设备的设计与实现，并简要说明了如何基于CAN总线来设计现场总线控制系统。     

基于CAN总线的侦察机器人控制系统设计

为了提高实验室现有遥操作侦察机器人的可靠性、实时性和可扩展性,设计了一套基于CAN总线的机器人控制系统.该系统由一个主节点和多个从节点构成,节点之间采用CAN总线相连,以实现侦察机器人各部分功能的模块化.给出了控制系统的总体结构,并结合系统中机械手控制模块阐述了CAN总线通信的硬件和软件设计.该控制系统已经成功应用在实验室现有的侦察机器人中,能够完成现场环境侦察和应急处理任务,在实际工程应用中得到了良好的应用.     

CAN现场总线控制系统的设计与实现

通过陶瓷厂辊道窑炉现场总线控制系统的设计与实现，介绍了CAN现场总线通信技术的特点，陶瓷窑控制系统的总体设计．硬件、软件设计以及现场测量得到的参数分布曲线。同时给出了一种基于CAN总线技术的控制系统的设计方法。     

CAN总线在现场总线控制系统中的应用

本文通过介绍CAN（Controller Area Network，控制器局域网）总线技术在FCS（Fieldbus Control System现场总线控制系统）中的应用，阐述了CAN总线设备的设计与实现，并简要说明了如何基于CAN总线来 设计现场总线控制系统。     

基于CAN总线的自治水下机器人控制系统

将CAN总线应用在自治水下机器人中，构成多主站的分布式控制系统，取代了以往水下机器人采用的集中式控制结构及主从式网络结构．从硬件和软件两方面详细介绍了CAN总线在自治水下机器人中的应用方案，设计了基于P87C591单片机的CAN总线控制器，并针对水下机器人分布式控制系统的需求特点，设计了CAN应用层协议和相应的通信软件．最后通过湖试验证了控制系统的可行性和可靠性．     

起重机吊重防摇CAN控制系统智能节点设计

起重机吊重防摇控制主要采用吊重、小车、大车等运动状态信息反馈控制小车和大车电机及吊重起升电机的驱动．进而控制小车和大车的运动状态来达到防止和衰减吊重防摇的目的。考虑到CAN总线的使用特点、控制系统中传感器位置分散和起重机的工作特点，利用CAN总线构建防摇控制系统。用单片机PIC16F877设计了CAN总线智能节点，很好地解决了控制系统中硬件可能受到的干扰抑制问题，单片机控制CAN控制器由CAN驱动器经CAN总线发送和接收现场实时数据。CAN总线智能节点的设计是基于DSP的防摇控制系统设计的前期内容之一。     

基于CAN总线的电梯控制系统

简述了CAN总线技术和特点，构造出基于CAN总线的分布式电梯微机控制系统，分析了CAN总线数据帧格式和数据链路控制规程。     

基于FPGA的CAN总线星形拓扑结构设计

CAN总线已在分布式控制系统中得到了广泛的应用.CAN总线采用总线形拓扑结构存在很多不足,限制了其在很多领域的推广.介绍了CAN总线的仲裁机制并设计了一种基于FPGA的CAN总线集线器,利用该集线器可以实现CAN总线的星形网络拓扑结构,解决了现有总线形CAN网络的缺陷.     

基于RCS模块的递阶分布控制系统

提出了一种基于实时控制系统（Realtime Control System,RCS)模块的递阶分布控制系统（Hierarchical and Distributed COntrol System,HDCS)的结构，描述了RCS模块的特征以及模块间通讯的实现，提出了基于任务分解的HDCS的设计与实现方法，介绍了HDCS开发工具，最后给出智能机械手的设计与实现实例。     

Design and Implementation of a Low Cost Multi-Fingered Robotic Hand Using a Method of Blocks

The control of a mechanical robotic hand is plagued by an inability to derive accurate dynamic models of such a mechanism. The aspects of static and kinetic friction are major obstacles in the control of a mechanical hand. This paper presents a fuzzy-like based controller and its implementation for a low cost robotic hand. The controller has the ability to automatically regenerate the member set during the translation of any arbitrary joint in a robotic hand. A series of simulations has been conducted that illustrate the effectiveness of this controller for providing smooth translation independent of frictional forces.The implementation of the controller used here is based on an IBM compatible computer using a custom designed acquisition/conversion interface and a mechanical hand assembly. A hand with a progressively linked finger structure has been used for simplicity. The acquisition system used here allows bidirectional communication with the sensors and actuators of the hand.A series of experiments have been conducted which verify that the method of blocks was successful for controlling joint position. The simulation results include both fine movements, needed for dexterity, and gross movements that can be used for grasping. This robotic hand produces good results in a low cost implementation.     

Whole-finger manipulation with a two-fingered robot hand

This paper describes a method for whole-finger rolling manipulation using a two-fingered robot hand. 'Whole-finger' refers to the use of the complete phalangeal surface during the manipulation. An example of whole-finger manipulation by the human hand is the rolling of a pen between two fingers. The proposed method is based on a two-dimensional model for modelling an object manipulation and is derived from a study of the movement of the contact line between both fingers. Also, the method uses tactile sensor information to estimate the contact point position together with the local curvature of the object. This whole-finger dexterous manipulation is demonstrated on a prototype two-fingered hand. This 5 d.o.f. hand consists of a tendon driven index and thumb, and is equipped with force and tactile sensors. The dimensions and performance of this device are 'human-sized'. A hybrid force-position control scheme is used. The hierarchical control structure is implemented on a dual transputer system. This paper first describes the kinematic model used for whole-finger manipulation. In the second part, the main emphasis is put on the mechanical design and on the transputer-based control system.     

沉浸式虚拟训练中的虚拟手操控技术研究

将人手的自然动作加入沉浸式虚拟现实系统中,可有效提高系统的沉浸感和交互性,简便快捷、成本低廉的虚拟手建模及操控技术,有助于此项内容的推广应用;在对虚拟手骨骼结构模型分析的基础上,提出了基于Leap Motion的虚拟手控制方法和流程;以维修训练为任务背景,设计了四种用于虚拟手操作的手势规则,并对实现流程和关键技术进行了分析;构建基于Unity3D引擎的原型系统对虚拟手进行仿真验证,结果表明,基于Leap Motion的虚拟手操控简单、交互自然,可以满足虚拟现实系统交互需要。     

ROBUST ADAPTIVE CONTROL FOR ROBOT MANIPULATORS WITH UNMODELLED DYNAMICS

In this paper, a robust adaptive control scheme for mechanical manipulators is presented. The design basically consists, on the one hand, of an adaptive controller that implements a feedback linearization control law which compensates the modeled dynamics, and, on the other hand, of an adaptive sliding-mode control law that overcomes the unmodelled dynamics and noise. It is also proved that the resulting closed-loop system is stable and that the trajectory tracking control objective is asymptotically achieved. Finally, some simulation results are also provided to evaluate the design.     

基于DSP的多自由度假手电气控制系统的研究

阐述了基于数字信号处理器(DSP)和步进电机的新型仿人型假手的电气控制系统。介绍了假手电气系统构成及其原理,该系统具有结构简单、集成度高的优点。给出了控制系统的硬件实现和软件程序的设计,并通过实验验证了假手的抓取性能。     

基于FPGA的仿人假手控制系统设计

为了满足生机电一体化仿人假手的控制需求,提出了基于FPGA的仿人假手电气控制系统设计方案。采用模块化设计思想,由FPGA构成的主控芯片模块便于功能拓展与二次开发;由DSP构成的手指运动控制模块、肌电信号采集模块、电刺激模块、USG接口模块和电池管理模块均可独立工作,与主控芯片模块间通过通用接口连接。系统集成度高,可完全放置于假手内部。应用该控制系统在HIT V代手上进行多指抓取实验,实验结果证明其工作效果良好。     

Graspar: a flexible, easily controllable robotic hand

With only one motor per finger and a simple, easy to maintain, mechanical structure, the Graspar robotic hand uses minimal computation to provide secure grasping of objects ranging from eggs and light bulbs to tennis rackets, coffee pots and stuffed toys. We first discuss currently developed hands, and show the motivation for our work. Next, we present the mechanical structure of our robotic hand and the antagonistic tendoning system. We then show how this structure moves and complies to the object surface. We discuss how we chose the pulley diameters for our tendoning system by maximizing the workspace of the fingers while mechanically insuring that the hand cannot collide with itself. Our control algorithm which uses simple mechanical switches is presented     

Control of a man-machine system interacting with the environment

This paper proposes an alternative control algorithm for a mechanical system having direct mechanical interaction with an environment and an operator. A robot for man-robot cooperation, an extender, a human amplifier and a powered steering system are examples of such a system. How to control the interaction in a desirable manner is one of the key issues for such a system. We first model the mechanical system, which has interaction with the environment and the operator, then propose a control algorithm based on the dynamics of the operator and the environment. The proposed control system consists of two controllers: one generates the desired motion of the mechanical system based on the force applied to the system, and the other one controls the interaction between the system and the environment. The proposed control algorithm specifies both the force augmentation and the maneuverability of the system. The algorithm is applied to a planar link mechanism with one degree of freedom. The experimental results illustrate the effectiveness of the proposed control algorithm.     

磁悬浮系统的双环自适应控制器设计与仿真

研究了基于机械和电气两种结构的磁悬浮系统的自适应控制方案，实现了双环磁悬浮控制系统的稳定悬浮。根据电磁铁动力学方程和电磁线圈的电压平衡方程，建立了磁悬浮系统基本模型。对系统中的电气部分和机械部分采用不同的控制方法：电气部分采用模型参考自适应控制的方法，加快电流上升的速度，使电流环性能达到设定指标；机械部分简化模型建立在电气自适应控制的基础上，针对系统参数的慢变特点而采用自校正控制方法，给出了能够自动跟踪系统参数，尤其是悬浮质量变化的稳定悬浮自适应控制算法。仿真和实验结果均证明这种控制方法能够使电流环快速跟踪给定信号，保证此悬浮系统能够很好地适应悬浮质量发生突变的情况，具有一定的实用价值。