模块化嵌入式机器人控制单元设计

针对当前机器人控制器设计开发过程中存在的问题,提出了以DSP为核心的模块化控制单元设计方法。采用DSP为微控制器,提高了运算速度,增强了控制性能。控制单元由CPU、驱动、通讯、I／O等模块组合而成,可以通过增减模块实现功能的重组,使系统具有一定的开放性,实现了功能的可配置。

Aiming at the problem in design and developing of robot controller, this paper puts forward a modularized embedded design method based on DSP. Adopting DSP as micro controller, the control unit has faster compute speed and enhanced control performance. The control unit consists of CPU module, driver module, communication module and I/O module. The function of control unit can be reformed by increasing or reducing module, which makes the system have openness to a certain extent and realizes function configuration.

国家863计划资助项目(2001AA42422170)