摘要
针对研制开发的某分动式驱动的全地形八足机器人,提出了一种以ARM架构微处理器S3C6410为核心、基于光纤和CAN通信的嵌入式控制系统,采用了WINCE操作系统作为S346410软件开发平台;采用模块化三级递阶控制方案对全地形八足机器人进行实时控制,解决了全地形八足机器人实时精确运动控制的问题;主要介绍了系统的总体设计、各节点间通信设计、底层行为控制、全局最短路径规划并进行了相关测试;试验结果表明,该系统人机界面友好、运行可靠、实时性好,能很好地满足该型八足机器人控制要求。
Specific to the lateral-driven all-terrain eight-legged robot developed, an embedded control system is proposed based on fiber and CAN communication using ARM microprocessor s3c6410 as core. Embed OS-Wince is adopted as a development platform for s3c6410 software. This paper presents a modularized three-tier hierarchical control scheme to real-time control the all-terrain eight-leg-ged robot. The overall design of the system, the design of communication between each node, the underlying behavioral control, global shortest path planning are the main questions introduced in this paper. Experimental sesults show that the control system with a friendly hu- man machine interface is reliable, real-time, and can well meet the control requirements of this type of eight-legged robot.
出处
《计算机测量与控制》
北大核心
2013年第4期942-944,共3页
Computer Measurement &Control
