基于CAN现场总线仿人机器人机械臂分布式控制的研究与设计  

Research and Design on CAN Distributed Controllers for Mechanical Arms of Humanoid Robot

作　　者：李丽[1] 郝兵[1] 白金泉[1] 姜重然[1] 

机构地区：[1]佳木斯大学信息电子技术学院,黑龙江佳木斯154007

出　　处：《佳木斯大学学报（自然科学版）》2014年第2期270-273,共4页Journal of Jiamusi University：Natural Science Edition

基　　金：国家863计划项目(2007AA041603);黑龙江省教育厅科学技术研究资助项目(12531711)

摘　　要：基于仿人机器人机械臂的高度实时性和极强的抗干扰性的特点,设计出了基于CAN现场总线仿人机器人机械臂分布式控制系统,利用C8051F041微控制器作为关节分布式控制器,并设计增量码盘和速度检测电路以及相应的软件等,完成了仿人机器人机械臂6个自由度的设计,对机械臂运动轨迹的控制达到了可靠性、实时性和稳定性的要求.In order to improve the control performance over the mechanical arms of humanoid robot , a dis-tributed controller system for mechanical arms based on RS 485 bus was developed , to which joint controller TMS320F240DSP was applied.The circuits of incremental discs and speed detection as well as their applications were designed .The achievement of develop and design on distributed controllers for six degrees of freedom me-chanical arms fulfilled the trajectory requirement of humanoid robot qualification and the system .

关 键 词：仿人机器人 分布式控制系统 关节控制器 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]