【摘要】 由于基于PCI或ISA接口的传统运动伺服板必须配合台式计算机使用,其占用空间和功耗较大,不适合应用于小型移动设备。因此,本文提出了一种新型的基于通用串行总线通讯的运动控制系统。并以其在“机器人世界杯(RoboCup)”中型组轮式移动机器人上的应用为例,介绍了该系统的硬件实现和软件结构。实验证明该系统体积小,功耗低,运行可靠稳定,通讯速率高,适用性强,不仅可用于移动机器人,还可用在一般的工业伺服控制中。更多还原

【Abstract】 Since traditional motion servo board based on PCI or ISA interface must be used together with desktop computers, which take too much space for small mobile devices,Universal Serial Bus (USB) is introduced to achieve the communication between the proposed control system and the host computer.Taking the application in RoboCup mobile robot as an instance, this paper presents both the hardware structure and the software architecture of the novel servo controller,which can also be applied in universal industri- al servo control.更多还原