| 基于多DSP的轮腿式机器人控制系统设计 |
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| 引用本文： | 孟凡军,李声晋,卢刚,皇甫剑锋. 基于多DSP的轮腿式机器人控制系统设计[J]. 微特电机, 2011, 39(6): 59-62,72 |
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| 作者姓名： | 孟凡军 李声晋 卢刚 皇甫剑锋 |
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| 作者单位： | 西北工业大学,陕西西安,710072 |
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| 摘 要： | 介绍了一种新型轮腿式机器人的控制系统。通过对轮腿机器人机械结构的分析,设计了一种基于多个DSP的可靠、实时性高的控制系统并进行了相关试验。试验结果表明,多DSP控制系统设计合理、性能优良,算法适用、可靠,能使机器人稳定可靠地转向避障和跨越台阶和斜坡等典型障碍物。
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| 关 键 词： | 轮腿式机器人 多DSP系统 CAN总线 软硬件设计 |
Design of Multi-DSP-Based Control System for Wheel-Legged Robot |
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| MENG Fan-jun,LI Sheng-jin,LU G ang,HUANGFU Jian-feng. Design of Multi-DSP-Based Control System for Wheel-Legged Robot[J]. Small & Special Electrical Machines, 2011, 39(6): 59-62,72 |
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| Authors: | MENG Fan-jun LI Sheng-jin LU G ang HUANGFU Jian-feng |
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| Affiliation: | MENG Fan-jun,LI Sheng-jin,LU Gang,HUANGFU Jian-feng(Northwestern Polytechnical University,Xi'an 710072,China) |
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| Abstract: | The control system for new wheel-legged robots was introduced.On the basis of its mechanical structure analysis,a reliable multi-DSP-based control system with real-time capability was designed and relative tests were carried out.Test results show that the multi-DSP-based control system is well designed with applicable and reliable arithmetic and makes the robot have a good performance of steering and surmounting typical obstacle like step and brae steadily and reliably. |
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| Keywords: | wheel-legged robot multi-DSP system CAN bus software and hardware design |
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