| TMS320C54x与PC机串行通信在仿生机器蟹系统中的应用 |
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| 引用本文： | 王立权,于艳爽,郭黎滨,孟庆鑫.TMS320C54x与PC机串行通信在仿生机器蟹系统中的应用[J].应用科技,2005,32(5):1-3. |
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| 作者姓名： | 王立权 于艳爽 郭黎滨 孟庆鑫 |
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| 作者单位： | 哈尔滨工程大学,机电工程学院,黑龙江,哈尔滨,150001 |
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| 摘 要： | 在仿生机器蟹控制系统中,协调控制层接受从组织规划层传来的命令,经过实时信息处理,产生一系列可供执行器执行的具体动作的序列,又细分为各步行足模块间协调和步行足各关节之间协调2层任务.DSP需要进行大量的运算,而且实时性要求很高.介绍了TMS3205x与PC机进行串行通信的方式,利用异步通信芯片TL16C550C实现了仿生机器蟹系统中TMS320VC5410与PC机的串行通信,并给出了通信的硬件接口电路和软件流程图以及TL16C550C的初始化程序.
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| 关 键 词： | 仿生机器蟹 TMS320C54x 串行通信 TL16C550 |
| 文章编号： | 1009-671X(2005)05-0001-03 |
| 修稿时间： | 2004年9月20日 |
Application of serial communication between TMS320C54x and PC to bionics crab-liked robot |
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| WANG Li-quan,YU Yan-shuang,GUO Li-bin,MENG Qing-xin.Application of serial communication between TMS320C54x and PC to bionics crab-liked robot[J].Applied Science and Technology,2005,32(5):1-3. |
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| Authors: | WANG Li-quan YU Yan-shuang GUO Li-bin MENG Qing-xin |
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| Abstract: | In bionic crab-liked robot control system,coordinating control layer receives the commands from PC and generates a sequence that can be used by executor to carry out the movement after dealing with the information in realtime. This layer also divides the task into two parts:one is the coordination between different single-legged modules,and the other is the coordination between different joints on one leg.A mass of computation is in DSP and this needs high real time requirement.The paper introduces the methods of serial communication between TMS320C54x and PC.The serial communication is realized by using UART(TL16C550C) in the system of bionics crab-liked robot.The communicational electro-circuit,flow chart and the initialization program of TL16C550C are presented. |
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| Keywords: | bionics crab-liked robot TMS320C54xl serial communication TL16C550 |
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