An electrically-driven quadruped robot distributed control system comprises an upper computer, a router, an industrial personal computer, a DSP chip and a CAN bus, the industrial personal computer isconnected with the router, and the upper computer sends data to the industrial personal computer through the router; the industrial personal computer processes the data to realize advanced motion planning of the quadruped robot; the industrial personal computer is connected with the two DSP chips through an RS-485 bus; each DSP chip is connected with two paths of CAN buses respectively; each CAN bus is connected with three motor drivers of one leg of the quadruped robot, each motor driver is connected with a joint motor and an encoder corresponding to the joint motor, one leg of the quadrupedrobot is controlled by one CAN bus, and the four legs are managed in a distributed mode. According to the system, distributed high-speed communication of four legs of the robot is realized through four paths of CAN, so that the management is flexible, the error-tolerant rate is higher, the problem of insufficient bandwidth is solved, a control program can run normally, and the movement fluency isensured.
一种电驱动四足机器人分布式控制系统,包括上位机、路由器、工控机、DSP芯片和CAN总线,工控机连接路由器,上位机通过路由器向工控机发送数据;工控机对数据进行处理,实现对四足机器人的高级运动规划;工控机通过RS‑485总线与两块DSP芯片相连,每个DSP芯片分别连接两路CAN总线,每一路CAN总线连接四足机器人中一条腿的3个电机驱动器,每个电机驱动器连接一个关节电机和该关节电机对应的编码器,实现一路CAN总线控制四足机器人的一条腿,对四条腿分布式管理。该系统通过四路CAN实现了机器人四条腿分布式高速通信,使得管理灵活,容错率更高,解决了带宽不足问题,使控制程序能够正常运行,确保了运动的流畅性。
Electrically-driven quadruped robot distributed control system
一种电驱动四足机器人分布式控制系统
2020-08-07
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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