基于模块化的机器人运动控制节点的设计  

Design of Modularized Embedded Robot’s Motor Intelligent Node

作　　者：何志琴[1] 杨超[1] 

机构地区：[1]贵州大学电气工程学院,贵阳550003

出　　处：《自动化与仪表》2010年第4期50-53,共4页Automation & Instrumentation

基　　金：贵州省科学技术基金项目(S2008JP00401000829)

摘　　要：针对机器人的复杂控制,提出了基于CAN总线的模块化分布式控制设计思想,进行了机器人运动控制节点的硬软件设计开发,并详细描述了系统软件算法设计。实验结果表明,模块化设计降低了机器人控制的复杂度,提高系统可靠性,为模块化设计在复杂控制系统的应用提供了依据。Aiming at the problem in design of robot extremely complex control,this papers submit a modularized embedded design method based on CAN bus.A real motor intelligent node was desin,which gives the system ＇ design course and means. The algorithm design of system software was described in detail. The experimental results proves that reduces the complexity of the robot control and improve the system reliability in this method. It＇s provide the basis applied to modular design in complex control system.

关 键 词：模块化 智能节点 永磁直流无刷电机 CAN总线 

分 类 号：TM361[电气工程—电机]