【摘要】 基于仿人机器人机械臂的高度实时性和极强的抗干扰性的特点,设计出了基于CAN现场总线仿人机器人机械臂分布式控制系统,利用C8051F041微控制器作为关节分布式控制器,并设计增量码盘和速度检测电路以及相应的软件等,完成了仿人机器人机械臂6个自由度的设计,对机械臂运动轨迹的控制达到了可靠性、实时性和稳定性的要求.更多还原

【Abstract】 In order to improve the control performance over the mechanical arms of humanoid robot,a distributed controller system for mechanical arms based on RS485 bus was developed,to which joint controller TMS320F240DSP was applied. The circuits of incremental discs and speed detection as well as their applications were designed. The achievement of develop and design on distributed controllers for six degrees of freedom mechanical arms fulfilled the trajectory requirement of humanoid robot qualification and the system.更多还原