【摘要】 本文结合清华大学THBIP -I型仿人机器人样机研制 ,开发设计了基于CAN总线的仿人机器人关节伺服控制卡。文中详细描述了该控制卡的硬件结构原理和系统软件协议 ,以及伺服卡在样机上的技术实验 ,并提出了进一步完善发展的思路。更多还原

【Abstract】 Combined with study on the prototype of THBIP- I of Tsinghua university, this paper designs a servo control card based on CAN bus. The author particularly describes the hardware structure of servo control card, communication protocol and realization of prototype’s system. Finally, based on feasibility of control experiment, the improvement is put forward.更多还原