摘要
针对移动机器人的工作特点和工作环境,设计了一套移动机器人的控制系统。移动机器人下位机通过CAN网络和各个电机和传感器连接在一起,来控制电机运动和采集传感器数据;同时采用基于TCP/IP的Socket连接方法将下位机和主控机连接在一起,使主控机准确及时地向下位机发送命令,同时下位机实时地向主控机发送所采集到的传感器数据。
Based on the working characters and environment of mobile robot,this paper designed a control system for mobile robot.The client computer of mobile robot connects motors and sensors through CAN network,in order to control motors and get data from sensors.At the same time,serves computer connects client computer through Socket base on TCP/IP,the serves computer send messages to client computer and get the data from client computer correctly and timely.
出处
《轻工机械》
CAS
2012年第3期50-53,57,共5页
Light Industry Machinery
基金
国家863计划(2006AA10Z257)
