摘要
针对传统人形机器人控制系统存在的软硬件模块化程度低、通讯非实时、控制功能有限的问题,在分析空间站对人形机器人控制系统功能需求的基础上,以四核嵌入式控制器为操作平台,搭建了基于Ether CAT总线的人形机器人分布式实验控制系统,实现了机器人任务规划与决策、数据管理和系统通信等功能,具有灵活高效的网络拓扑结构、模块化的软件架构。实验表明,该系统保证了信号采集的实时性和可靠性,控制的稳定性和高精度。
The control system of the traditional humanoid robot has many problems such as low degree of modularity in software and hardware,non-real-time communication and limited control functions. On the basis of analyzing the function requirements for humanoid robot system in the space station,a distributed control system based on Ether CAT bus for humanoid robot was put forward. It adopted the quad-core embedded controller as its operating platform and achieved the following functions: robot mission planning and decision-making,data management and system communication.The experiment results showed that the system could not only guarantee the real-time and reliability of the signal acquisition process,but also ensure the stability and high precision of the control system.
出处
《载人航天》
CSCD
2016年第1期16-22,共7页
Manned Spaceflight
基金
载人航天预先研究项目(050101)
