一种基于总线的移动探测机器人控制系统设计与实现  

Design and Implementation of Distributed Control System For a Bus-Based Motion Detection Robot

作　　者：陈杨洋[1] 崔建伟[1] 宋爱国[1] 宋钰涛[1] 张海霞[1] 

机构地区：[1]东南大学仪器科学与工程学院,江苏南京210096

出　　处：《测控技术》2014年第7期76-80,共5页Measurement & Control Technology

摘　　要：针对机械臂定位相关的控制算法缺乏合适验证平台的问题,将移动机器人技术和机械臂控制技术相结合,在分布式控制系统结构的基础上设计并实现了移动探测机器人原型样机。该系统由一个中央主控单元和多个从控制单元构成,单元之间通过总线相连,以实现探测机械臂各部分的模块化。该控制系统已经成功应用于实验室的探测机器人中。该设计能够完成对机械臂运动控制任务,可以用于移动探测机器人平台的建立以及相关算法的实现。Because of lacking of suitable verification platform for the relevant arm positioning control algorithm,a mobile robot prototype based on distributed control system architecture is designed and implemented,which combines mobile robot technology with manipulator control technology.The system consists of a central control unit and a plurality of controller nodes,the units are connected through the bus,in order to achieve the modularity of each part of the manipulator.The control system has been successfully applied to the laboratory detection robot.The design can complete the motion control tasks of manipulator and be used to establish mobile robot platform and realize the associated algorithm.

关 键 词：机械臂 控制系统 地面探测 多传感器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]