基于CAN总线的轮腿式机器人的分布式控制系统设计

摘要

在轮腿式机器人系统平台基础上,设计了一种基于CAN总线的机器人分布式控制系统.文章详细介绍了主控制器和伺服从控制器的软硬件设计,并对试验样机进行了测试.试验表明,控制器具有较高伺服性能,系统实时性较强,能达到机器人的动作要求.%On the basis of the wheel-leg robot system, a CAN-based distributed robot control system was designed.The hardware and software design of the master controller and the servo slaver controllers were explained in detail and some experiments were performed.Experimental results show that the system has a good performance of servo and real-time capability, and that it achieves the motion requirements of robots.