赵建东, 邵黎君, 徐凯, 刘莉, 陈恳. 基于CAN总线的仿人机器人关节伺服控制系统研究[J]. 机器人, 2002, 24(5): 421-426..
ZHAO Jian-dong, SHAO Li-jun, XU Kai, LIU li, CHEN Ken. STUDY ON HUMANOID JOINT SERVO CONTROL SYSTEM BASED ON CAN BUS. ROBOT, 2002, 24(5): 421-426..
Abstract：Aimed at humanoid structure and requirements for control performance, and combined together with study of the prototype of THBIP-I of Tsinghua university, this paper presents a classification joint servo control system based on CAN bus. The author particularly describes the overall structure scheme for the system, structure of servo card, communication protocol and control algorithm, and realization of prototype's system. Finally, based on feasibility of control experiment, the improvement is put forward.
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