可重构机器人体系结构及模块化控制系统的实现

本文提出了一种适用于新型可重构星球机器人的模块化控制系统,根据机构和运动特性,基于CAN总线和分布式控制器技术,将系统结构和功能分解成不同模块由各自的控制器独立执行,建立具有任务层和运动层的分层次控制结构,实现了组合式规划、分布式控制的混合式控制方法。本文设计了两种不同的控制器,并采用PPG脉冲宽度调节方法实现了对在机器人上使用的R/C电机的标定和控制。通过在子机器人原理样机上进行实验,验证了这套控制系统和控制体系结构的可行性。

The modularized control system was designed for a novel reconfigurable planetary robot system).According to the characteristics of the mechanism and motion,based on CAN and distributed controller,the structure and functions are decomposed into various modules executed by respective controllers.Hierarchical hybrid control architecture is proposed,which consists of the task-level and the motion-level and realizes the synthesis of combinational plan and distributed control.Two kinds of controllers were designed.The calibration and control of R/C servomotor are implemented by adjusting the pulse width of programmable pulse generator.The experiments on the prototype of child-robots prove the feasibility of the control system.

“863”国家高技术研究发展计划(2002AA422130)资助项目