基于CAN总线的仿人机器人传感器系统的设计与实现  

Design and Implementation on Sensor System of Humanoid Robot Based on CAN Bus

作　　者：于佳[1] 刘凯[1] 

机构地区：[1]上海交通大学

出　　处：《微型电脑应用》2010年第4期15-17,67,共3页Microcomputer Applications

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

摘　　要：传统的机器人传感器系统一般都与主控制器并在一起,并且全身各个传感器都直接与主控制器相连,这使得机器人内部连线数量大大增加,增加了故障发生率。针对此类问题,文中提出了基于CAN总线的仿人机器人传感器系统,该系统独立于主控制器,可对传感器的信息进行采集分析,并将数据通过CAN总线发送到主控制器。不仅获得了机器人常用的传感信息,更重要的是采用CAN总线作为通讯方式,大大减少了仿人机器人内部的连线数,因而提高了整个系统的可靠性。The traditional sensor system of humanoid robot is integrated with the main controller in general,and all the sensors of robot are connected with the controller directly,it greatly increases the number of internal connections,so it increases the incidence of failure.Due to this problem,this paper presents a robot sensor system based on CAN bus.The system is independent of the main controller,which can acquire and analyze the sensor information,then send the results to the main controller with CAN bus.It not only get the robot sensor's information,the most important is the CAN bus that is used as communication,which greatly reduces the internal connections of humanoid robot,and increases the Stability of the system.

关 键 词：仿人机器人 传感器系统 CAN总线 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]