轮桨腿一体化两栖机器人控制系统设计

为满足轮桨腿一体化两栖机器人控制系统各模块间信息交换的实时性、灵活性、可扩展性和可靠性的要求,将CAN总线应用于轮桨腿一体化两栖机器人控制系统中。从硬件和软件两方面,介绍了CAN总线在轮桨腿一体化两栖机器人中的应用方案,设计了基于ARM7处理器的CAN总线控制节点,提出了适用于两栖机器人的CAN总线应用层协议方案。

In order to meet the request of timeliness,flexibility,extendibility and reliability of information exchanges between various modules of the Wheel-Paddle-Leg Integration Amphibious Robot,CAN bus is applied to control system design of the Wheel-Paddle-Leg Integration Amphibious Robot.The application of CAN bus in the Wheel-Paddle-Leg Integration Amphibious Robot is introduced from the viewpoint of the hardware and software.The control nodes of CAN bus using ARM7 microprocessor is designed and an appli-cation layer protocol of CAN bus applied to the Wheel-Paddle-Leg Integration Amphibious Robot is proposed.

基金申请人:俞建成;项目名称:轮桨腿一体两栖机器人研究;基金颁发部门:国家自然科学基金(60605029);;基金申请人:郭威;项目名称:轮桨腿一体两栖机器人研究;基金颁发部门:国家863计划(2006AA04Z232)