双臂单腿跳跃机器人控制系统的通信技术研究

Research on the communication techniques for the control system of a one-legged hopping robot with two actuated arms

通信是制约控制系统性能、影响控制效果的关键技术,而CAN总线本身可以保证通信的快速、实时和强抗干扰能力。但是,CAN协议只定义了物理层和数据链路层,具体的跳跃机器人控制问题上,需要应用层协议来实现。针对一种双臂单腿跳跃机器人,基于CAN总线搭建了上、下位机模式的控制系统,分析了双臂单腿跳跃机器人控制系统功能需求,设计了CAN应用层协议。实验结果证明,应用此应用层协议能够实现上、下位机间准确、高效的通信。

The communication which will impact the real-time control is critical for the system. Features of CAN bus guarantee the good performances on speed, real-tlme control and antidisturbance of the system. Due to the CAN bus only defines the protocols on physical layer and data link layer, an application layer one is needed while facing some complex problems as controlling the hopping robot. According to the characters of a one-legged hopping robot with two actuated arms, a control system consisting of personal computer （PC） and digital signal processor （DSP） based on controller area network （CAN） bus was designed. The requirement of the functions of the control system was analyzed, and the CAN application layer protocol was designed. Experiments show that this application layer protocol can realize the fluent communication with efficiency and accuracy between PC and DSP.