摘要
为满足机器人控制系统各模块对信息交换的实时性、灵活性、可扩展性、可靠性的要求,在危险作业机器人设计过程中选用了CAN总线作为系统信息传输的通道,在此基础上设计了机器人的控制系统,将其分为6大模块,介绍了系统的组成、原理及软件设计。2项典型实验证明这是一种可靠的控制方案,它保证了系统的安全性和可靠性,能够满足处理危险弹药任务的要求。
In order to meet the real-time, dexterity, expansibility and security demand of the data exchange among modules of robot＇ s control system, CAN was used as the data transferring channels in control system. Based on CAN the control system of hazardous operation robot was designed, including six modules. The system structure, principle and software design were introduced. Two typical experiments show that it is a reliable control scheme, it guarantees the system security and stability and can satisfy the needs of deal dangerous ammunition.
出处
《机床与液压》
北大核心
2007年第7期98-100,共3页
Machine Tool & Hydraulics
基金
国家863项目(编号:2001AA422420)
