| 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 |
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| 引用本文： | 李丽,郝兵,白金泉,姜重然.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[J].佳木斯大学学报,2014(2):270-273. |
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| 作者姓名： | 李丽 郝兵 白金泉 姜重然 |
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| 作者单位： | 佳木斯大学信息电子技术学院 |
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| 基金项目： | 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) |
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| 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.
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| 关 键 词： | 仿人机器人 分布式控制系统 关节控制器 CAN总线 |
Research and Design on CAN Distributed Controllers for Mechanical Arms of Humanoid Robot |
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| LI Li;HAO Bing;BAI Jing-quan;JIANG Chong-ran.Research and Design on CAN Distributed Controllers for Mechanical Arms of Humanoid Robot[J].Journal of Jiamusi University(Natural Science Edition),2014(2):270-273. |
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| Authors: | LI Li;HAO Bing;BAI Jing-quan;JIANG Chong-ran |
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| Institution: | LI Li;HAO Bing;BAI Jing-quan;JIANG Chong-ran;College of Information and Electronic Technology,Jiamusi University; |
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| Abstract: | 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 . |
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| Keywords: | humanoid robot distributed control system joint controller CAN bus |
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