摘要
针对四足仿生机器人分层、分布式控制系统,研制了由嵌入CAN控制器的单片机AT89C51CC01、电机运动控制芯片LM629和电机驱动芯片LMD18245组成的关节运动控制器,详细介绍了其总体方案设计、硬件设计和软件设计,实现了对四足仿生机器人实时、精确的控制。
In view of the layered and distributed control frame of quadruped bionic robot, a joint motion controller was developed, which mostly consists of the AT89C51CC01 contained CAN controller, motion control chip LM629 and motion drive chip LMD18245. The general scheme, hardware and software design are introduced in detail, the real - time and accurate control to the quadruped robot are realized.
出处
《组合机床与自动化加工技术》
2007年第5期56-58,63,共4页
Modular Machine Tool & Automatic Manufacturing Technique
基金
西北工业大学研究生创业种子基金(Z200522)
