摘要
步行机器人对控制系统的实时性、扩展性和通用性提出了较高的要求,控制系统的架构设计至关重要,本文设计和开发了基于Linux RTAI的步行机器人实时运动控制系统。该系统采用基于PC+运动控制卡的结构,即PC+PMAC结构。PMAC运动控制卡具有强大的伺服控制功能,可支持不同厂家的驱动器,具有良好的通用性和扩展性。系统软件采用模块化设计方法,利用标准的C++进行开发,运行Linux RTAI实时操作系统。通过对PMAC驱动的实时改造,使得PC与PMAC的实时通信成为可能,允许PC执行复杂的控制算法,提高了对复杂对象的控制能力。本文还给出了步行机器人软件架构和程序实现机制,根据需要可方便进行扩展。
The control system of walking robot requires high performance of real time, extensibility, universality. The architecture design of control system is vital to satisfy these requirements. This study develops a real - time control system for the walking robot based on Linux RTAI. The control system utilizes the motion controller with standard bus structure, that is PC ＋ PMAC, the PMAC has powerful servo control capability and is compatible with many amplifiers provided by different vendors. Thus, the structure is extendable and suitable for many different cases. The application software, developed in standard C ＋ ＋ language with modular design method, is running on the open source Linux RTAI operation system. The communication time between PC and PMAC can be guaranteed by modifying the Linux driver of PMAC, which allows more complex algorithms to be processed in PC, and consequently improve the control capability for complex tasks. This paper also introduces the architecture of the control system and the way of implemen- ting the software, users can modify it accordingly.
出处
《机械设计与研究》
CSCD
北大核心
2014年第3期29-33,41,共6页
Machine Design And Research
基金
国家自然科学基金资助项目(51175323
61004047)
国家973计划课题(2013CB035501
2013CB035504)
机械系统与振动国家重点实验室开放课题(MSV201208)
