仿人机器人的分布式控制系统设计  

Distributed Control System Design for Humanoid Robots

作　　者：杨斌[1] 苏剑波[1] 

机构地区：[1]上海交通大学自动化系,上海200240

出　　处：《控制工程》2010年第1期102-105,118,共5页Control Engineering of China

基　　金：国家自然科学基金资助项目(60675041);教育部新世纪优秀人才支持计划基金资助项目(NCET-06-0398)

摘　　要：针对仿人机器人系统自由度多,实时性与可靠性要求高的特点,设计了基于CAN总线的具有Windows与RT-Linux系统的双主机的主控层结构的分布式控制系统,整个控制系统采用集中管理分散控制的方式,按照控制系统的结构和功能划分为主控层、通信层、协调执行层3层。CAN总线与一般通信总线相比,它的数据通信具有较强的实时性,并且CAN总线连线简单,降低了系统连线的复杂程度,增强了系统的可靠性。其中基于Windows的控制系统负责仿人机器人关节电机的调试以及传感数据的显示;基于RT-Linux的系统实现机器人的实时运动控制。实验表明提出的分布式控制系统操作简便、安全可靠、实时性强,能充分满足仿人机器人系统调试与运动控制的要求。A humanoid robot control system with distributed modularization is presented based on CAN bus and double PC control architecture, to meet the requirements of multi-degree-of-freedom, real-time and stability performance. Based on the principle of centralized management and decentralized control, the control system is divided into three layers： main control layer, communication layer and actuating layer. CAN bus is a kind of field-bus with better real-time performance and stronger reliability. The main control layer system is based on Windows OS, responsible for testing and display of the sensor data received. The other one is under RT-Linux OS, aiming at realizing humanoid robot real-time motion control. Experimental results show that the presented control system has good performance of convenient operation, stability and real-time, meeting the requirements of humanoid robot testing and motion control.

关 键 词：仿人机器人 分布式控制 双主机 实时性 

分 类 号：TP27[自动化与计算机技术—检测技术与自动化装置]