模块化多足步行机器人的运动控制系统研究

为解决机器人对复杂多变的环境适应性不强的问题，研制了模块化的多足步行机器人系统。针对模块化多足步行机器人的机构特点，设计并实现了一种位于机器人模块化控制体系底层的基于CAN总线的运动控制系统。采用微处理器、专用的运动控制和驱动芯片以及光电编码器实现了机器人关节的伺服闹环运动控制；采用CAN总线作为模块问的通信接口，有效地支持了多关节实时控制。提出了一种具有3层抽象结构特点的可扩展的软件体系结构，为运动控制系统提供模块化支持。实验验证了运动控制系统软硬件的可靠性和有效性。

Study on Motion Control System of a Modular Multi-legged Robot

To solve thee problem of robots' weak adaptability to various environmental conditions,a modular multi-legged walking robot system was developed.Aiming at the characteristics of its mechanism,the modular multi-legged walking robot's motion control system based on CAN bus,which is the base level of the robot's modular control system,was designed and realized.Microprocessor,dedicated motion controller and driver,optical electronic encoder were used to realize servo closed-loop motion control.CAN bus was used as the communication interface for modules and supported real-time control effectively.The expansive software architecture featuring three-level hierarchy was proposed and offered support to the motion control system.Experimental results prove the motion control system's hardware and software are reliable and effective.