| 基于CAN总线的仿人机器人力信息检测系统 |
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| 引用本文： | 王剑,马宏绪.基于CAN总线的仿人机器人力信息检测系统[J].华中科技大学学报(自然科学版),2004(Z1). |
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| 作者姓名： | 王剑 马宏绪 |
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| 作者单位： | 国防科技大学机电工程与自动化学院 国防科技大学机电工程与自动化学院 湖南长沙 湖南长沙 |
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| 摘 要： | 通过对五维力 /力矩传感器的电路结构和已经建立的仿人机器人运动控制系统结构分析 ,提出了一种基于CAN总线的力信息检测系统 .主要介绍了设计思想和方案 ,对接口电路设计的硬件结构和软件流程进行了详细的阐述 .所设计的系统已应用于仿人机器人的力信息采集 ,通过实验证明能够较好地完成力信息的实时采集与传送 .
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| 关 键 词： | 力/力矩传感器 CAN总线 信息检测系统 |
Humanoid force information detection system based on CAN bus |
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| Wang Jian Ma Hongxu Doctoral Candidate, College of Mech-Electr. Eng. and Automation,National Univ. of Defense Tech.,Changsha ,China..Humanoid force information detection system based on CAN bus[J].JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY.NATURE SCIENCE,2004(Z1). |
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| Authors: | Wang Jian Ma Hongxu Doctoral Candidate College of Mech-Electr Eng and Automation National Univ of Defense Tech Changsha China |
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| Institution: | Wang Jian Ma Hongxu Doctoral Candidate, College of Mech-Electr. Eng. and Automation,National Univ. of Defense Tech.,Changsha 410073,China. |
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| Abstract: | This paper proposed a kind of system designed for the collection and transmission of information from force-torque sensors through CAN bus, based on research of control system and control mode of humanoid robot. The idea of this design is expatiated, and the hardware configuration and software flow chart of the system is expounded in detail in this paper. Finally, the efficiency of the designed system is proved through experiments. |
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| Keywords: | force/torque sensor CAN bus information detection system |
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