手脚融合多足机器人控制系统设计

Control system design for multi-legged robot with hand-fused foot

针对手脚融合多足机器人关节多、控制复杂的特点,设计并实现了一种基于CANopen网络的分布式运动控制系统.该系统采用专用的运动控制器和数字增量型编码器实现了对机器人各关节的闭环控制.通过CANopen网络建立关节间的通信模型,增强了控制系统的可重构性和容错能力,有效地支持了多关节的实时联动.利用基于CMO/COM模型的软件体系结构对每个关节电机进行软件控制,采取分层思想设计了CANopen通信程序.实验结果表明,运动控制系统能够稳定可靠地工作.

Aiming at robot charactertics of complex control for so many joints,a distributed motion control system based on CANopen network was designed and realized.Dedicated motion controller and digital incremental encoder were used to realize closed loop control to each joint.CANopen network was used to build a communication model among all joints,which strengthened recongfiguability and fault tolerance of the control system and supported real time multi-jointed linkage.Software architecture based on CMO/COM was used to achieve software control for each joint motor.Layer idea was used to design CANopen communication program for the whole system.Experimental results prove that hardware and software of this motion control system can work steadily and reliably.