温旭, 石宗英, 钟宜生, 杜继宏. 基于SERCOS总线的两足步行机器人分布式运动控制系统[J]. 机器人, 2001, 23(5): 416-420..
WEN Xu, SHI Zong-ying, ZHONG Yi-sheng, DU Ji-hong. DISTRIBUTED MOTION CONTROL SYSTEM OF BIPED WALKINGROBOTS BASED ON SERCOS. ROBOT, 2001, 23(5): 416-420..
Abstract:The development of motion control systems of biped walking robots is reviewed in the paper, and a new kind of communication system-SERCOS is introduced. SERCOS can undertake real time and have high transmission speed. It is fit for the harmonious motion control of multiple axles and for realizing the distributed motion control system of biped walking robots. The design of that control system is made and its advantages are stated.
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