履带复合式移动机器人控制系统的设计与实现

摘要

According to the mechanism characteristics of six tracked mobile robot with four swing arms, a robot control system is designed using technology of EtherCAT bus and QNX multi-task real-time operating system. Hardware integration and software design of the control system are introduced emphatically. To realize the scalability and portability of control software, the modular control software is designed by using shared memory communication mode. The experimental results show that the walking and obstacle surmounting functions of robot can be implemented under remote control;the reliability and stability of the control system are verified, which are met the design requirements.%针对六履带四摆臂履带式移动机器人的机构特点，采用EtherCAT总线技术和QNX多任务实时操作系统设计机器人控制系统。着重介绍机器人控制系统的硬件集成与软件设计。考虑到控制程序的可扩展性与可移植性需求，采用共享内存通信方式设计模块化控制软件。试验表明，该机器人可在远程遥控状态下实现行走及越障功能，验证了控制系统的可靠性与稳定性，达到设计要求。