摘要
采用分布式处理器结构的机械臂,关节轨迹规划由中央控制器OBC和关节控制器协作完成,由于两控制器时钟不同步,关节运行会产生异常波动。针对此问题提出一种基于控制器局域网总线校时的分布式控制器同步方法,利用CAN总线的校时命令使得关节端轨迹规划器的周期同步于OBC,同时通过合理安排各事件的触发时刻保证期望位置信息的正确获取。仿真结果表明,该方法可以有效地实现两级控制器的同步,保证关节平稳运行。
The trajectory planning of the joint is implemented by the cooperation of on-board computer（OBC） and joint controller in manipulator which adopted disributed processors.The non-synchronous clock between two processors will cause disturbance to the joint＇s operation.For solving this problem,a novel synchronization method for distributed control system based on the time correction command in the controller area network（CAN） bus is proposed.The cycles of joint trajectory planner are synchronized to the OBC by using the time correction command trasmited in the CAN bus.Meanwhile,the desired position information is faithfully acquired through suitably arranging the events＇ burst times.The simulation experiments show that this method can effectively synchronize the processors,thus make the joint move more smoothly.
出处
《机械与电子》
2010年第11期69-72,共4页
Machinery & Electronics
基金
机器人技术与系统国家重点实验室2008年度自主部署课题(SKLRS20080A01)
关键词
分布式系统
同步
校时
轨迹规划
distributed system
synchronization
time correction
trajectory planning
