仿人机器人分布式控制系统设计与实现

摘要

Aiming at the real-time requirement of the biped robot BHBIP-1, this paper designs and realizes a three-layer humanoid robot distributed control system, including the master layer based on PC104, the CAN bus communication layer and execution layer. The design of hardware and control software of the host computer and joint position servo controller are given. Experimental result proves that the distributed control system fits for BHBIP-1 control environment and matches the requirements of walking stably.%针对BHBIP-1型双足步行机器人对控制系统的实时性和稳定性要求,设计实现具有3层结构的分布式控制系统,包括基于PC104的主控层、CAN总线通信层和执行层,给出上位机、关节位置伺服控制器的硬件及控制软件设计方案.样机调试结果表明,该控制系统性能良好,机器人行走过程稳定,抗干扰能力强.