Design and Implementation of a Reconfigurable Planetary Robot Control System
WANG Minghui1,3, MA Shugen1,2, LI Bin1, WANG Yuechao1, HE Xinyuan1,3
1. Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China; 2. Department of Systems Engineering, Ibaraki University, Ibaraki 316-8511, Japan; 3. Graduate School of the Chinese Academy of Sciences, Beijing 100039, China
王明辉, 马书根, 李斌, 王越超, 贺鑫元. 可重构星球探测机器人控制系统的设计与实现[J]. 机器人, 2005, 27(3): 273-277..
WANG Minghui, MA Shugen, LI Bin, WANG Yuechao, HE Xinyuan. Design and Implementation of a Reconfigurable Planetary Robot Control System. ROBOT, 2005, 27(3): 273-277..
Abstract：A novel reconfigurable planetary robot system is presented. Based on the decomposition of functions and configuration, a modularized control system is designed, using CAN as a main communication method among the modules. With the control principle and the centralized control algorithm proposed, the locomotion and manipulation of the robot at different modes is efficiently controlled. The experiment with the prototype proves the feasibility of the control system.
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