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履带复合式移动机器人控制系统的设计与实现
Alternative TitleDesign and Implementation of the Control System for Compound Tracked Mobile Robot
张化龙; 李艳杰; 卜春光; 高英丽
Department机器人学研究室
Source Publication自动化仪表
ISSN1000-0380
2016
Volume37Issue:6Pages:35-37,42
Contribution Rank2
Funding Organization国家科技支撑基金资助项目(编号:2013BAK03B02)
Keyword移动机器人 控制系统 Ethercat总线 实时控制 遥控 模块化设计 防灾减灾
Abstract针对六履带四摆臂履带式移动机器人的机构特点,采用Ether CAT总线技术和QNX多任务实时操作系统设计机器人控制系统。着重介绍机器人控制系统的硬件集成与软件设计。考虑到控制程序的可扩展性与可移植性需求,采用共享内存通信方式设计模块化控制软件。试验表明,该机器人可在远程遥控状态下实现行走及越障功能,验证了控制系统的可靠性与稳定性,达到设计要求。
Other AbstractAccording to the mechanism characteristics of six tracked mobile robot with four swing arms, a robot control system is designed using technology of EtherCAT bus and QNX multi-task real-time operating system. Hardware integration and software design of the control system are introduced emphatically. To realize the scalability and portability of control software, the modular control software is designed by using shared memory communication mode. The experimental results show that the walking and obstacle surmounting functions of robot can be implemented under remote control; the reliability and stability of the control system are verified, which are met the design requirements.
Language中文
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/18815
Collection机器人学研究室
Corresponding Author张化龙
Affiliation1.沈阳理工大学机械工程学院
2.中国科学院沈阳自动化研究所
Recommended Citation
GB/T 7714
张化龙,李艳杰,卜春光,等. 履带复合式移动机器人控制系统的设计与实现[J]. 自动化仪表,2016,37(6):35-37,42.
APA 张化龙,李艳杰,卜春光,&高英丽.(2016).履带复合式移动机器人控制系统的设计与实现.自动化仪表,37(6),35-37,42.
MLA 张化龙,et al."履带复合式移动机器人控制系统的设计与实现".自动化仪表 37.6(2016):35-37,42.
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