基于CAN的仿人机器人控制器的设计与实现

本文针对仿人机器人的结构和控制性能的要求,设计并实现了基于CAN的关节控制器,并利用CAN把各个关节和力传感器及上位机连接在一起,构成了有效可靠的控制系统。主要包括仿人机器人的总体结构、控制器的硬件与软件的设计实现、控制系统的拓扑结构等,并提出了一些设想以提高系统的性能。

Aimed at humanoid robot structure and requirements for control performance, it designs and realizes joint controller based on CAN, and structures an effective credible control system with connection controllers, force sensors and up computer together. It includes mainly:overall structure of the system, design and implement of hardware and software, topology of control system, and brings forward some imaginations to enhance performance of the system.

国家863计划(2001AA422170)资助项目。