摘要
为了实现适合于多运动方式移动机器人的分布式运动控制系统,在四足机器人控制系统总体设计方案的基础上,采用自下而上的设计思想设计了控制系统各功能模块,即伺服控制模块、协调控制模块和通信接口模块,并在多运动方式四足机器人试验平台上进行了验证。试验结果表明,整个控制系统结构灵活、功能强大、工作稳定可靠,提高了机器人的运动性能。
To design adistributed motion controller adapting to multi -locomotion quadruped robot. Based on the whole control system designing of quadruped robot, the control system includes the servo control module, the managing module and communication module, which is designed based on concept from bottom to top and has been validated on walking robot. As a result, the whole system are flexible and powerful , also works well. The capability of robot can be improved by this means.
出处
《电机与控制学报》
EI
CSCD
北大核心
2005年第4期337-340,共4页
Electric Machines and Control
