液压驱动四足机器人控制系统开发

Development of Control System for a Hydraulically Actuated Quadruped Robot

摘要:

针对液压驱动四足机器人的结构特点和自动化运动需求,设计基于CAN总线通信的分层式控制系统,分为远程监控层、规划控制层和执行控制层三层,并按照控制系统总体设计方案进行硬件系统和软件系统开发;该控制系统应用基于WINDOWS的PC机和基于ARM开发的触摸操控板进行远程监测和控制,采用基于QNX的PCI/104单板机对机器人的运动进行规划,选用DSP作为执行机构处理器,从而构建了一个具有工作性能稳定、实时响应快、结构紧凑等特点的控制系统平台;软件系统采用模块化设计的思想进行开发,提高了控制系统的扩展性;最后,通过对液压缸运动的控制实验,验证了该控制系统的稳定性和可靠性。

Abstract:

Due to the consideration of the structural characteristics and automation movement requirements of a hydraulically drive quadruped robot , a hierachical control system based upon CAN-bus communication was designed ,which consisted of three layers named remote supervisory layer , programming control layer and implementing control layer . According to the general design, the hardware system and software system were developed. The PC based on Windows and ARM-based touchpad were used for remote monitoring and control, the QNX-based PCI104 SBC was applied for motion planning, the DSP was selected as the processor of the implementing mechanism, so then, a control system with the characteristics of stable performance, fast real-time response and compact structure was founded, The scalability of the control system was improved by the modularized idea. Finally, through the hydraulic cylinder motion control experiment, the stability and reliability of the control system was tested. 