月面仿人机器人实时控制系统设计  

Design of Real-Time Control System for Lunar Humanoid Robot

作　　者：姜朝峰 莫小波 朱秋国[1,3] 吴俊[1,3] 熊蓉[1,3] JIANG Chaofeng;MO Xiaobo;ZHU Qiuguo;WU Jun;XIONG Rong(Institute of Intelligent Systems and Control,Zhejiang University,Hangzhou 310027,China;Hangzhou Deep Robotics Ltd.,Hangzhou 310027,China;State Key Laboratory of Industrial Control Technology,Zhejiang University,Hangzhou 310027,China)

机构地区：[1]浙江大学智能系统与控制研究所,杭州310027 [2]杭州云深处科技有限公司,杭州310027 [3]浙江大学工业控制技术国家重点实验室,杭州310027

出　　处：《载人航天》2019年第5期618-624,共7页Manned Spaceflight

摘　　要：针对月面仿人机器人复杂运动控制面临的实时通信和控制问题,设计采用QNX实时操作系统和EtherCAT工业以太网相结合的机器人控制系统,并构建多线程实时控制系统框架。主要测试QNX操作系统在上下文切换、中断响应和时钟精度的实时性以及EtherCAT工业以太网的通信周期及其抖动,证明了QNX操作系统的实时性能显著优于Windows和Linux,实现了250μs的数据通信周期和1 ms的系统控制周期,并在仿人机器人WUKONG-II上开展了多线程控制程序框架的功能试验,实现3.24 km/h的平地快速跑动,验证了控制系统的实时性和有效性。To solve the real-time communication and control problem in the complex motion control of humanoid robots on lunar surface,a robot control system combining the QNX real-time operating system and EtherCAT industrial Ethernet was proposed and a multi-thread real-time control system framework was constructed.The real-time performance of the QNX operating system in context switching,interrupt response and clock precision and the communication cycle and jitter of EtherCAT Industrial Ethernet were tested.The results showed that the real-time performance of QNX operating system achieved 250μs cycle time in data communication period and 1 ms cycle time in control period which were significantly better than those of the Windows or Linux.The function experiment was conducted for the multi-thread control program framework on the humanoid robot WUKONG-II and 3.24 km/h rapid running was realized.The real-time performance and effectiveness of the control system were verified.

关 键 词：月面仿人机器人 QNX ETHERCAT 实时控制 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]