可重构星球探测机器人控制系统的设计与实现

详细信息

Design and Implementation of a Reconfigurable Planetary Robot Control System

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

摘要: 介绍了一种新型可重构星球探测机器人系统．基于这种机器人功能和结构的分解特点，设计了模块化控制系统，使用CAN总线技术作为模块间主要通讯方式．提出了控制原理和集中式控制算法，有效地实现了一台子机器人在不同模式状态下自主运动和操作的控制，并通过原理样机实验验证了这套控制系统的可行性．
- 可重构星球探测机器人系统 /
- 控制系统 /
- CAN总线 /
- 系统模块化 /
- 集中式控制
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.
- reconfigurable planetary robot system /
- control system /
- CAN bus /
- system modularization /
- centralized control

[1]	Hirose S. Super-Mechano-Colony and SMC royer with detachable wheel unite[A]. Proceedings of COE workshop99[C].1999.67-72.
[2]	Hirose S, Damoto R, Kawakami A. Study of super-mechano-colony(Design of Experimental Model and Its Fundamental Experiments).[A].Proceedings of COE workshop 2000[C].2000.83-89.
[3]	Kawakami A, Torii A, Hirose A. Design of SMC rover: development and basic experiments of arm equipped single wheel rover[A].Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems[C].Maui, Hawaii: IEEE,2001.96-101.
[4]	He X Y, Ma S G, Li B,et al.Mechanical design and dynamic analysis of planetary rover [A].Proceedings of the IEEE International Conference on Robotics and Biomimetics [C].Shenyang, China:IEEE,2004.626-630.
[5]	He X Y, Ma S G, Li B,et al.Analysis of locomotion of a planetary rover on a slope[A].Proceedings of the IEEE Conference on Robotics, Automation and Mechatronics [C].Singapore: IEEE,2004.1130-1134.
[6]	Zhang L P, Ma S G, Li B,et al.Position-sensing based a new docking system of RPRS [A]. Proceedings of the IEEE International Conference on Control, Automation, Robotics and Vision[C]. Kunming, China: IEEE,2004.278-282.
[7]	汪洋,李斌,等.蛇形机器人控制系统的设计与实现[J].机器人,2003,25(6):491-494.