摘要
根据仿人机器人控制性能的要求,设计开发了关节控制器,并通过CAN总线把各个关节控制器、力传感器及上位机连接在一起,构成了分布式控制系统.利用无线局域网技术,实现了语音、视频等多媒体信息的传输,把监控台、头部、上身和移动平台连接在一起,构成了仿人机器人完整的控制系统.最后提出了一些设想以提高系统的性能.
According to the requirements of humanoid robot control performance, a joint controller is designed and realized, and a distributed control system based on CAN （ Control Area Network） is built by connecting all joint controllers, force sensors, task management computer and upper limbs control computer together. Furthermore the transmission of voice and video multimedia information is realized with wireless LAN（ Local Area Network）. The monitor desk, the head, the upper part of the body and the mobile platform are connected together, and the whole control system of the humanoid robot is constituted. Finally, some proposals are put forward to enhance performance of the control system.
出处
《机器人》
EI
CSCD
北大核心
2005年第5期455-459,共5页
Robot
基金
国家863计划资助项目(2001AA42422170)
关键词
仿人机器人
微控制器
控制系统
CAN总线
humanoid robot
micro controller unit（MCU）
control system
CAN bus
