摘要
依据现代机器人技术的发展特点,提出了一种基于ARM(AdvancedRISCMicroprocessor)、DSP和arm-linux的嵌入式机器人控制系统的设计方法,介绍了嵌入式系统,给出了功能设计、结构设计、硬件设计、软件设计的控制系统的设计过程,并分别从上述各方面对控制系统的通用性进行了探讨。层次化的体系结构、模块化的硬件、结构化的软件使得设计出的机器人控制系统经过简单的硬件调整和软件定制,就能适用于多种机器人。通过七自由度串联机器人抓取工件的实例验证,该机器人控制系统性能稳定、具有一定的通用性。
The development of present and coming robots was analyzed. A method of the controller system of robots based on advanced RISC microprocessor （ARM） , DSP and arm-linux was put forward. Embedded system was introduced, the design process was presented from function design, system structure, hardware design, to software design and the control system for all-purpose was discussed from each aspect above. The control system of robots adopted hiberarchy structure, modular hardware and structured soft- ware, which made it easy to many types of robots after simple hardware adjustment and software customization, for example, a 7- DOF series robot and a 6-DOF parallel robot, etc. The control system was validate that it has the advantage of stabilization and cur- rency through experiments.
出处
《微计算机信息》
北大核心
2007年第01Z期271-274,共4页
Control & Automation
基金
国家自然基金项目(50375008)
国家863计划资助项目(2002AA421160)共同资助
关键词
嵌入式系统
控制系统
ARM
机器人
embedded systems,control system,ARM,robot,generalization
