液壓驅動(dòng)四足機器人控制系統開(kāi)發(fā)

首頁(yè) > 過(guò)刊瀏覽>2015年第23卷第9期 >3042-3044

液壓驅動(dòng)四足機器人控制系統開(kāi)發(fā)
DOI:
                        
                    
CSTR:
                        [cstr]
                    
作者:
                        
                        
                    
作者單位:(1.哈爾濱理工大學(xué) 機械動(dòng)力工程學(xué)院,哈爾濱 150080; ;2. 松遼水利委員會(huì )察爾森水庫管理局,內蒙古 烏蘭浩特 137400)
作者簡(jiǎn)介:邵俊鵬(1957),男,教授,主要從事液壓傳動(dòng)與控制方向的研究。 [FQ)]
通訊作者:
中圖分類(lèi)號:
基金項目:

Development of Control System for a Hydraulically Actuated Quadruped Robot

Author:

Affiliation:

(1. Harbin University of Science and Technology ,Harbin 150080,China; ;2. Chaershen reservoir administration of Liao River Water,Ulanhot 137400,China)

Fund Project:

摘要

圖/表

訪(fǎng)問(wèn)統計

參考文獻

相似文獻

引證文獻

資源附件

文章評論

摘要:

針對液壓驅動(dòng)四足機器人的結構特點(diǎn)和自動(dòng)化運動(dòng)需求,設計基于CAN總線(xiàn)通信的分層式控制系統,分為遠程監控層、規劃控制層和執行控制層三層,并按照控制系統總體設計方案進(jìn)行硬件系統和軟件系統開(kāi)發(fā);該控制系統應用基于WINDOWS的PC機和基于A(yíng)RM開(kāi)發(fā)的觸摸操控板進(jìn)行遠程監測和控制,采用基于QNX的PCI/104單板機對機器人的運動(dòng)進(jìn)行規劃,選用DSP作為執行機構處理器,從而構建了一個(gè)具有工作性能穩定、實(shí)時(shí)響應快、結構緊湊等特點(diǎn)的控制系統平臺;軟件系統采用模塊化設計的思想進(jìn)行開(kāi)發(fā),提高了控制系統的擴展性;最后,通過(guò)對液壓缸運動(dòng)的控制實(shí)驗,驗證了該控制系統的穩定性和可靠性。

Abstract:

Due to the consideration of the structural characteristics and automation movement requirements of a hydraulically drive quadruped robot , a hierachical control system based upon CAN-bus communication was designed ,which consisted of three layers named remote supervisory layer , programming control layer and implementing control layer . According to the general design, the hardware system and software system were developed. The PC based on Windows and ARM-based touchpad were used for remote monitoring and control, the QNX-based PCI104 SBC was applied for motion planning, the DSP was selected as the processor of the implementing mechanism, so then, a control system with the characteristics of stable performance, fast real-time response and compact structure was founded, The scalability of the control system was improved by the modularized idea. Finally, through the hydraulic cylinder motion control experiment, the stability and reliability of the control system was tested. 

參考文獻

相似文獻

引證文獻

引用本文

邵俊鵬,李中奇,孫桂濤,劉艷艷,王東.液壓驅動(dòng)四足機器人控制系統開(kāi)發(fā)計算機測量與控制[J].,2015,23(9):3042-3044.

復制

文章指標

點(diǎn)擊次數:
下載次數:
HTML閱讀次數:
引用次數:

歷史

收稿日期:2015-01-23
最后修改日期:2015-04-28
錄用日期:
在線(xiàn)發(fā)布日期: 2015-10-08
出版日期:

国产欧美精品一区二区,中文字幕专区在线亚洲,国产精品美女网站在线观看,艾秋果冻传媒2021精品,在线免费一区二区,久久久久久青草大香综合精品,日韩美aaa特级毛片,欧美成人精品午夜免费影视

引用本文

分享

文章指標

歷史

文章二維碼