Research and Design on Distributed Controllers for Mechanical Arms of Humanoid Robot

被引：306

作者：

Jiang, Chongran ^{[1
]}

Chen, Wenping ^{[1
]}

Shi, Qingjun ^{[1
]}

Xu, Binshan ^{[1
]}

机构：

[1] Jiamusi Univ, Sch Informat & Elect Technol, Jiamusi, Peoples R China

来源：

2010 2ND INTERNATIONAL ASIA CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS (CAR 2010), VOL 1 | 2010年

关键词：

Humanoid Robot; Joint; Distributed Control System; RS485; Bus;

D O I：

10.1109/CAR.2010.5456772

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Distributed control system based on RS-485 bus for mechanical arms is put forward to improve control performance of mechanical arm of humanoid robot. Motion planning algorithms operate on host computer, which communicates distributed controllers with RS-485 bus, with responsibility for cooperation of each joint. Research and design on distributed controller for six degrees of freedom mechanical arm was accomplished, adopting TMS320F240DSP as the MPU. It was indicated by experimental results that the distributed control system could control the operation of each joint motor steady to track the set trajectory exactly in real time with RS-485 bus and that the system performance had fulfilled design requirements.

引用

页码：88 / 91

页数：4

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