摘要
为了解决两足步行机器人的多节点通信和多轴协调控制问题,文章提出了应用CAN总线技术的设计方案,构成了有两台嵌入计算机PC/104和两条CAN总线控制网络,分别控制机器人的上肢和下肢的运动,计算证明CAN总线能够满足实现静态步行所需的数据传输要求。
In the paper, a kind of field bus-CAN, which can undertake real time and has high transmission speed, is introduced. It is fit for the harmonious motion control of multiple axles. We can use CAN to realize the distributed motion control system of biped walking robots. The paper will deal with the design of that control system and its advantages.
出处
《微计算机信息》
北大核心
2008年第26期204-206,共3页
Control & Automation
