可重构星球探测机器人控制系统的设计与实现

介绍了一种新型可重构星球探测机器人系统.基于这种机器人功能和结构的分解特点,设计了模块化控制系统,使用CAN总线技术作为模块间主要通讯方式.提出了控制原理和集中式控制算法,有效地实现了一台子机器人在不同模式状态下自主运动和操作的控制,并通过原理样机实验验证了这套控制系统的可行性.

A novel reconfigurable planetary robot system is presented. Based on the decomposition of functions and configuration, a modularized control system is designed, using CAN as a main communication method among the modules. With the control principle and the centralized control algorithm proposed, the locomotion and manipulation of the robot at different modes is efficiently controlled. The experiment with the prototype proves the feasibility of the control system.

国家863计划资助项目(2002AA422130).