模块化可重构机器人分布式控制系统的设计与实现

Design and realization for distributed control system of modular reconfigurable robot

模块化可重构机器人的研究扩大了机器人的应用范围。本课题通过选用控制功能强大的ARM芯片和高速、高可靠、低价格的新一代增强型单时钟/机器周期的STC单片机,应用简单通用的RS-232总线技术构建了性价比很高的模块化可重构机器人的分布式控制系统,有效地实现了机器人的运动控制。详细地介绍了控制系统的硬件构成,软件体系以及系统的工作原理。

Research on Modular reconfigurable robot expends the application field of robot, this case built a great capability and low price distributed control system of modular reconfigurable robot by choosing ARM chip which has powerful control ability and a new generation of single-clock /machine cycle STC MCU which is high-speed, high reliability, low price , using the simple and generic RS-232 bus technology, and the movement control is efficiently implemented. The composing of hardware, the structure of software and the principle of system is introduced detailed in this paper.