自重构机器人机载控制系统硬件设计

Hardware Design of Control System in Self-Configurable Robots

本文介绍了自重构机器人机载控制系统的硬件设计,包括单片机的选择、硬件资源分配以及接口电路、信息采集模块、移动控制模块、通信模块等的设计,在设计中,通过采用一些高度集成的控制芯片,优化了系统的结构,提高了系统的性能。

This paper introduces the hardware design of control system in self-configurable robots,it comprises the selection of SCM（Single Chip Micyoco）,the hardware resource distribution,and the design of the interface circuit,the information sample module and the motion control module. The hardware structure is optimized and the capability is enhanced by using controlling chip.