摘要
针对双臂单腿跳跃机器人的特点,基于CAN总线搭建起上/下位机模式的控制系统。分析上位机(PC)与下位机(DSP)的特点及其在控制系统中的作用,提出一种"DSP定时PC从动"的实时控制方式,并引入缓冲机制等提高实时性的关键技术,使得Windows平台下弱实时的上位机同样可以胜任实时控制任务,保证控制系统整体的实时性。通过实验证明该实时控制方式的可行。
According to the characters of a one - legged hopping robot with two actuated arms, a real - time control system consisting of PC （Personal Computer） and DSP （Digital Signal Processor） based on Controller Area Network （CAN） is designed. After analyzing the behaviors of both PC and DSP in the control system,a way to realize real - time control is presented,in which DSP is used for timing and PC is driven to work by signals from DSP. Some techniques like buffering are introduced as well to improve the real- time performance. In this manner,even using Windows OS,PC can be qualified to make the whole system have good real - time performance. Experiments are given and the feasibility of this control method is demonstrated.
出处
《现代电子技术》
2008年第8期161-164,共4页
Modern Electronics Technique
基金
北京市教委研究生教育与科研平台建设项目资助(07004)
