仿人机器人系统的研究与实现

针对仿人机器人的结构和控制性能的要求,设计开发了机器人的关节控制器,并利用CAN总线把各个关节和力传感器及上位机连接在一起,构成了有效可靠的分布式控制系统;利用无线局域网技术,实现了语音、视频等多媒体信息的传输,构成了仿人机器人完整的控制系统。最后提出了一些设想以提高系统的性能。

Aiming at structure of humanoid robot and requirements for control performance, it designs and realizes a joint controller based on CAN, and structures an effective and reliable distributed control system by connecting all joint controllers, force sensors, task management computer and upper limbs control computer together; and realizes the transmission of voice and video multimedia information by wireless LAN; constitutes whole control system of humanoid robot. Finally, some imaginations are put forward to enhance performance of the control system.

国家863计划项目(2001AA42422170)