| 基于CAN总线的轮腿式机器人的分布式控制系统设计 |
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| 引用本文： | 孟凡军,李声晋,卢刚.基于CAN总线的轮腿式机器人的分布式控制系统设计[J].微特电机,2011,39(1). |
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| 作者姓名： | 孟凡军 李声晋 卢刚 |
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| 作者单位： | 西北工业大学,陕西西安,710072 |
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| 基金项目： | 西北工业大学本科毕业设计重点扶持项目支持 |
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| 摘 要： | 在轮腿式机器人系统平台基础上,设计了一种基于CAN总线的机器人分布式控制系统。文章详细介绍了主控制器和伺服从控制器的软硬件设计,并对试验样机进行了测试。试验表明,控制器具有较高伺服性能,系统实时性较强,能达到机器人的动作要求。
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| 关 键 词： | CAN总线 轮腿式机器人 分布式控制系统 |
Design of CAN-Based Distributed Control System for Wheel-Leg Robot |
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| MENG Fan-jun,LI Sheng-jin,LU Gang.Design of CAN-Based Distributed Control System for Wheel-Leg Robot[J].Small & Special Electrical Machines,2011,39(1). |
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| Authors: | MENG Fan-jun LI Sheng-jin LU Gang |
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| Affiliation: | MENG Fan-jun,LI Sheng-jin,LU Gang(Northwestern Polytechnical University,Xi'an 710072,China) |
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| Abstract: | On the basis of the wheel-leg robot system,a CAN-based distributed robot control system was designed.The hardware and software design of the master controller and the servo slaver controllers were explained in detail and some experiments were performed.Experimental results show that the system has a good performance of servo and real-time capability,and that it achieves the motion requirements of robots. |
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| Keywords: | CAN bus wheel-leg robot distributed control system |
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