壁面机器人控制系统设计  

Design of Controlling System of Wall-climbing Robot

作　　者：王爱民[1] 高铁红[1] 史庆国[1] 

机构地区：[1]河北工业大学机械学院,天津300130

出　　处：《河北工业大学学报》1999年第6期60-62,共3页Journal of Hebei University of Technology

摘　　要：介绍了一种壁面机器人的微机控制系统，包括机器人操作器的控制系统和负压源的双泵冗余控制系统．机器人操作器采用分布式单片机控制系统，并采取有力措施妥善解决了机器人主机及各控制模块之间的通讯问题．首次提出了采用双泵冗余控制的方法，提高壁面机器人的安全性，重点论述了双泵冗余控制的机理，大量实验证明该控制系统切实可行、工作可靠，对提高壁面机器人的性能，特别是安全性效果十分显著．Gives a control system of wall-climbing robot based on single-chip computed, including maincontrol part to the robot and redundancy control of double vacuum pump to negative pressure source. A Distributed Control System of single-chip computer is used in the main control pod and solve commtmication problem betWeen master computer and other control parts by powerful measure. Ww firstly proposed a redundancycontrol of double vacuum pump to improve robot's safety and mainly explain the theory of it. Alarge numberof Experiments shows that the control system presented in this paper is feasible and reliable, iiis very effectivein improving the robot's funCtion, especially to it's safety.

关 键 词：壁面机器人 分布式控制 双泵冗余控制 单片机 控制系统 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TU976.42[自动化与计算机技术—控制科学与工程]