多足机器人嵌入式控制系统研究  

Control System for Multi-leg Robot Based on DSP

作　　者：范庆彬[1] 

机构地区：[1]哈尔滨理工大学后勤集团,黑龙江哈尔滨150080

出　　处：《哈尔滨理工大学学报》2008年第3期45-47,共3页Journal of Harbin University of Science and Technology

摘　　要：针对多足机器人行走控制的应用,进行了完整的控制系统任务规划,构造了以无线通信和485总线通信为基础的三级控制系统方案,设计了多控制器多驱动器协调控制的嵌入式硬件体系,同时对单个电机采用了位置模式下速度PID控制方案,并采用了双缓冲策略,有效维持了机器人行走.Aimed at the application of multiped robot walking control, the control system task is planned, and three-level control system is constructed based on wireless communications and 485 bus communications and the embedded hardware system constructed by multi-controller and multi-driver is designed. Meanwhile, the speed PID control method with position mode and the double buffer strategy are applied so as to realize continuous walk.

关 键 词：机器人 嵌入式 控制系统 485总线 

分 类 号：TP69[自动化与计算机技术—控制理论与控制工程]