SIA OpenIR  > 信息服务与智能控制技术研究室
模特机器人CAN总线控制系统设计与实现
Alternative TitleDesign and Research of a Model Robot CAN Bus Control System
何伟; 朱云龙; 苏卫星; 李倩
Department信息服务与智能控制研究室
Source Publication机械设计与制造
ISSN1001-3997
2013
Issue11Pages:183-185, 189
Contribution Rank1
Funding Organization国家自然科学基金(61174164,61003208,61105067)
Keyword机器人 分布式控制系统 Can总线 增量式pid控制
Abstract针对SIAHMR-I模特机器人的机械结构特性和机器人控制系统对实时性和稳定性要求,设计和实现了具有三层结构的基于can总线的分布式控制系统,包括了机器人主控层,基于CAN总线系统通信层,以及底层节点执行层,并且给出了整个机器人系统的控制结构和节点控制器的软、硬件原理图以及增量式PID位置控制设计方案,并且完成搭建了机器人控制系统实验平台。实验结果表明,控制系统性能良好,能够实现真实的模拟人体的体型和姿态动作,并且可靠性和抗干扰能力强。
Other AbstractAiming at characteristics of robot mechanical structure and real-time and stability requirements of the SIAHMR-I model robot,it designs and realizes a three layers distributed control system based on can bus,including the master layer of the robot on PC,CAN bus protocol layer,and underlying implementation layer on node controller. And the node controller schematic about hardware and software,and PID control design are given,and a robot control system experimental platform has been to build. And the results show that the performance of the control system is fit for SIAHMR-I model Robot,strong anti-interference ability of motion simulation.
Language中文
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/15643
Collection信息服务与智能控制技术研究室
Affiliation1.中国科学院沈阳自动化研究所信息服务与智能控制技术研究室
2.中国科学院大学
Recommended Citation
GB/T 7714
何伟,朱云龙,苏卫星,等. 模特机器人CAN总线控制系统设计与实现[J]. 机械设计与制造,2013(11):183-185, 189.
APA 何伟,朱云龙,苏卫星,&李倩.(2013).模特机器人CAN总线控制系统设计与实现.机械设计与制造(11),183-185, 189.
MLA 何伟,et al."模特机器人CAN总线控制系统设计与实现".机械设计与制造 .11(2013):183-185, 189.
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