模块化多足步行机器人的运动控制系统研究  

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

作　　者：陈学东[1] 周明浩[1] 孙翊[1] 贾文川[1] 

机构地区：[1]华中科技大学

出　　处：《中国机械工程》2006年第10期1071-1074,共4页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(60375034);留学回国人员科研启动基金资助项目

摘　　要：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闭环运动控制;采用CAN总线作为模块间的通信接口,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。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 mo tion control system＇s hardware and software are reliable and effective.

关 键 词：模块化 多足步行机器人 运动控制 CAN总线 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]