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多足机器人嵌入式控制系统研究 被引量：1

Control System for Multi-leg Robot Based on DSP
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摘要 针对多足机器人行走控制的应用,进行了完整的控制系统任务规划,构造了以无线通信和485总线通信为基础的三级控制系统方案,设计了多控制器多驱动器协调控制的嵌入式硬件体系,同时对单个电机采用了位置模式下速度PID控制方案,并采用了双缓冲策略,有效维持了机器人行走. Aimed at the application of multiped robot walking control, the control system task is planned, and three-level control system is constructed based on wireless communications and 485 bus communications and the embedded hardware system constructed by multi-controller and multi-driver is designed. Meanwhile, the speed PID control method with position mode and the double buffer strategy are applied so as to realize continuous walk.
作者 范庆彬
机构地区 哈尔滨理工大学后勤集团
出处 《哈尔滨理工大学学报》 CAS 2008年第3期45-47,共3页 Journal of Harbin University of Science and Technology
关键词 机器人 嵌入式 控制系统 485总线 robot embedded control system 485 bus
分类号 TP69 [自动化与计算机技术—控制理论与控制工程]
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参考文献6

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二级参考文献28

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哈尔滨理工大学学报
2008年 第3期

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