多传感器机器人数据采集与融合系统研究

Research on a data acquisition and fusion system of multi-sensor robots

根据多传感器机器人控制器数据采集量大、数据融合算法复杂、系统实时性强的特点 ,提出了基于ADμC812和TMS32 0F2 0 6的双CPU结构的机器人信息采集与数据融合系统结构 .介绍了该系统的硬件组成、基本工作原理以及接口电路 ,并给出了ADμC812子系统程序流程图 .

The control system of multi-sensor robots has these characteristics: numerous acquisition data, complex fusion algorithm and real-time control, etc. This paper presents a new data acquisition and fusion system of robots with a dual-CPU configuration based on ADμC812 and TMS320F206. The composition, working principles and interface circuits of the system are introduced in the paper. At the same time, the flow chart of the ADμC812 subsystem program is given.