摘要
在具有32自由度仿人机器人中,为了每一个关节动作准确,可以采用分布式控制的体系结构。这里采用基于RS 485总线的TMS320F240DSP作为分布式关节控制器,非常适合于在机械臂内的狭小空间内安装,并进行增量码盘和速度检测电路的设计以及相应的软件设计等,完成了6个自由度机械臂分布式关节控制器设计,能够满足仿人机器人技术与系统的运动轨迹的要求。
Distributed control system structure could be adopted in humanoid rodot with 32 degrees of freedom to ensure motion accuracy of each joint. TMS320F240DSP based on RS 485 bus is adopted as the joint controller, which is quite suit to be installed in the narrow space inner mechanical arms. The circuits of incremental discs and speed detection together with their respective applications are designed. The accomplishment of distributed controller for 6 degrees of freedom mechanical arms fulfills the trajectory requirement of humanoid robot qualification and the system.
出处
《现代电子技术》
2009年第20期29-31,35,共4页
Modern Electronics Technique
基金
国家863计划资助项目:仿人机器人技术与系统(2003AA420010)
