| 基于UMAC的六足机器人控制系统设计 |
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| 引用本文： | 尤波,刘鹏飞,许家忠. 基于UMAC的六足机器人控制系统设计[J]. 自动化技术与应用, 2011, 30(11): 26-30 |
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| 作者姓名： | 尤波 刘鹏飞 许家忠 |
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| 作者单位： | 哈尔滨理工大学自动化学院,黑龙江哈尔滨,150080 |
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| 摘 要： | 六足机器人随着任务的复杂程度不断提高,自由度也不断增多,使其控制结构也越来越复杂,给工程实现带来很大的困难.本文以中枢模式发生器(CPG)原理为基础,IPC+UMAC多轴运动控制器为核心,采用分级分布式控制结构设计六足机器人控制系统.控制系统包括6个CPG单元,每个CPG单元的输出信号控制机器人单腿的三个关节.通过CP...
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| 关 键 词： | 六足机器人 中枢模式发生器(CPG) UMAC |
Design on the Control System of Hexapod Robot Base on Umac |
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| YOU Bo,LIU Peng-fei,XU Jia-zhong. Design on the Control System of Hexapod Robot Base on Umac[J]. Techniques of Automation and Applications, 2011, 30(11): 26-30 |
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| Authors: | YOU Bo LIU Peng-fei XU Jia-zhong |
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| Affiliation: | YOU Bo,LIU Peng-fei,XU Jia-zhong(College of Automation,Harbin University of Science and Technology,Harbin 150080 China) |
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| Abstract: | With the increasing complexity of the task,hexapod robot joints are also increasing,makes its control structure more and more complicated,and very difficult to realize.This paper develops a control system of hexapod robot based on central pattern generator(CPG),which has the hierarchical and distributed control structure.The industrial computer and UMAC(Universal Motion and Automation Controller) are the core of the control system.Three joints of each leg are controlled by output signal of the CPG unit.The ... |
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| Keywords: | hexapod robot central pattern generator(CPG) UMAC |
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