刘淼, 魏洪兴, 陈殿生, 王田苗. 一种机器人嵌入式网络化控制系统体系结构的研究[J]. 机器人, 2006, 28(2): 107-110,114..
LIU Miao, WEI Hong-xing, CHEN Dian-sheng, WANG Tian-miao. An Architecture of Embedded Networked Control System for Robots. ROBOT, 2006, 28(2): 107-110,114..
Abstract：The advantages and disadvantages of the networked control system based on serial-bus for robot control system are discussed.A distributed multi-CAN(controller area network) bus control system which is made up of ARM(advanced RISC machine) and FPGA(field programmable gate array) is described.This architecture effectively reduces the bandwidth requirement for networked servo system,and can implement hierarchical control information processing and real-time servocontrol. A multi-CAN bus controller based on FPGA is designed,and the realization method of the robot control software architecture on Linux is analyzed.The networked control system is validated by its application to modularized robot.
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