【摘要】 本文介绍两足步行机器人运动控制系统结构的新发展 ,并介绍一种适于多轴运动控制的通信系统—— SERCOS总线 ,它的通信速率高 ,实时性和确定性好 ,很适合机器人各关节的协调运动控制 ,便于构成分布式的机器人控制系统结构 .文中讨论了基于 SERCOS总线的两足步行机器人控制系统结构设计 ,并分析了其优点 .更多还原

【Abstract】 The development of motion control systems of biped walking robots is reviewed in the paper, and a new kind of communication system - SERCOS is introduced. SERCOS can undertake real time and have high transmission speed. It is fit for the harmonious motion control of multiple axles and for realizing the distributed motion control system of biped walking robots. The design of that control system is made and its advantages are stated.更多还原