摘要
根据机器人控制性能的要求,设计了一个基于CAN总线的分布式机器人控制系统,该控制系统由上位主控计算机、通讯部分和下位各关节控制器组成,具有连线简单,扩充方便,通讯稳定可靠,控制实时性高等特点。并对机器人关节控制器的硬件电路设计和控制软件设计作了详细阐述。该控制系统已用于研制的6DOF机械手,控制效果良好。
According to the requirements of robot control performance, a distributed robot control system based on CAN bus is designed, which is composed of computer, communication module and joint controllers .The control system has many features, including simple connection, convenient extension, reliable communication and good real-time, and so on. Besides these, it mainly describes the design of hardware circuit and control software of joint controller. A 6DOF robot has been controlled by the control system, and the good control result has been gotten.
出处
《微计算机信息》
北大核心
2006年第06Z期255-257,共3页
Control & Automation
基金
国家863计划航天领域资助项目(2002AA755026)
河南省杰出人才创新基金资助项目(0421000500)
