摘要
针对液压驱动的四足机器人复杂实时控制的问题,提出了一种以ARM9为内核的嵌入式控制系统的设计。该控制系统采用RS232串口和监控机进行通信,控制层采用一个主控制器和4个子控制器的分布式控制系统,主、子控制器之间采用CAN总线通信。实验证明,系统设计合理,运行稳定可靠,能较好地完成四足机器人对控制系统的实时性要求。
In order to achieve the complex real-time control of quadruped robot with hydraulic driven, an embedded control system based on ARM9 is designed. The control system uses RS232 to communicate with the monitor, the control layer adopts the distributed control system composed of a master controller and four sub controllers, the main controller communicates with the sub controller by using CAN. The experimental results show that the system is reasonable, stable and reliable, which can better complete the real-time requirements of the control system of the quadruped robot.
作者
张奔
卞新高
朱灯林
ZHANG Ben BIAN Xin-gao ZHU Deng-lin(School of Mechanical ＆ Electrical Engineering, Sanjiang University, Nanjing 210012, China College of Mechanical and Electrical Engineering, Hohai University, Changzhou 213022, China)
出处
《测控技术》
CSCD
2017年第7期66-69,74,共5页
Measurement & Control Technology
基金
水利部公益性行业科研专项项目(200701033)
