CN105397814A - Humanoid robot movement control system based on controller area network (CAN) bus - Google Patents
Humanoid robot movement control system based on controller area network (CAN) bus Download PDFInfo
- Publication number
- CN105397814A CN105397814A CN201410427844.4A CN201410427844A CN105397814A CN 105397814 A CN105397814 A CN 105397814A CN 201410427844 A CN201410427844 A CN 201410427844A CN 105397814 A CN105397814 A CN 105397814A
- Authority
- CN
- China
- Prior art keywords
- controller
- main control
- control system
- control computer
- humanoid robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Manipulator (AREA)
Abstract
Provided is a humanoid robot movement control system based on a controller area network (CAN) bus. The humanoid robot movement control system has the advantages of being flexible in structure, high in stability, standard, modular, highly integrated and intelligent and having the open type architecture structure function, is convenient to use, is coordinated in action, and can achieve the wireless real-time walking function. The humanoid robot movement control system mainly comprises the three modules of a main control computer module, a communication module and an execution layer module, and is structurally characterized in that firstly, the main control computer module is composed of a main control computer and a CAN interface card jointly; secondly, the communication module is composed of the CAN bus to be responsible for the communication situation of the whole control system; and finally, the execution layer module is the core part of the control system to finish the control task and is composed of the eight control parts including a lower limb controller, an upper limb controller, a hand controller, a head controller, upper limb joints, lower limb joints, hand joints and head joints.
Description
Technical field
The present invention is a kind of control system being applied in the robot of automatic field, relates to a kind of Motion Controller for Humanoid Robot based on CAN particularly.
Background technology
At present, robot research is that automatic field is the most complicated, the challenging problem of most; The multi-door subjects such as its set electron, machinery, computer, material, sensor, control technology, in one, are the concentrated reflections of multidisciplinary high-tech achievement.And the research of humanoid walking robot technology is in the forward position of robot subject study especially, it represents a national development in Hi-Tech level to a certain extent.
Kinetic control system is the core of Robot Control Technology, is also one of the key technology in robot research field, has very important status in robot controlling, therefore each research institution all using the research of robot movement-control system as top priority; Coordination, there is certain intelligence, can realize wireless real-time walking become current robot development theme.
Along with the development of the Modern High-Tech being representative with electronic computer and Digital Electronic Technique, be particularly the high digital signal processor of representative and the extensive use of scale programmable logic device (with CPLD and FPGA for representative) with DSP, robot movement-control system also from structure single in the past and simple function towards structuring, standardization, modularization and Highgrade integration future development, adopt and open a kind of inexorable trend that imitative formula architecture has become this technical development.
Robot of the prior art imitation-man control system architecture is more single, function is also very simple, and the function of realization is few, intelligent not; With reference to Chinese invention patent, the patent No. is 200810038844.X, it discloses a kind of apery robot distributed dual-bus motion control system, belongs to multifreedom motion control system, for anthropomorphic robot motion control.Apery robot distributed dual-bus motion control system comprises coordinated movement of various economic factors controller, CAN, joint control and local bus.Coordinated movement of various economic factors controller is connected with all joint controls by CAN, is realized interconnected between all or part of joint control by local bus.The present invention realizes sharing of state and heat transfer agent between joint control by increasing local bus, reduces the data volume that CAN is transmitted.Above-mentioned robot distributed dual-bus motion control system structure comparison is single, function is also very simple; Simultaneously referring again to Chinese invention patent, the patent No. is 201110237131.8, it discloses a kind of humanoid robot control system, this control system is dcs, comprise and to be connected by CAN and CAN controller and to realize host computer and the slave computer of data communication, wherein said host computer is formed primarily of the S3C2440 embedded chip based on ARM9 kernel, and the DSP robot joints controller that described slave computer is core primarily of TMS320F2812 chip is formed.This invention still also exist structure simply, intelligent not etc. feature.
Summary of the invention
The present invention is exactly for the problems referred to above, make up the deficiencies in the prior art, a kind of Motion Controller for Humanoid Robot based on CAN is provided, the present invention has that flexible structure, stability are strong, standardization, modularization, Highgrade integration, intellectuality and open the advantage of imitative formula architecture function, Motion Controller for Humanoid Robot easy to use, its coordination also can realize wireless real-time walking function.
For realizing above-mentioned purpose of the present invention, the present invention adopts following technical scheme.
A kind of Motion Controller for Humanoid Robot based on CAN of the present invention, mainly comprises three large modules: main control computer module, communication module, execution level module; Its structural feature is: first main control computer module is jointly made up of main control computer and CAN interface card, and secondly communication module is made up of to come the signal intelligence of responsible overall system control CAN; Finally that Executive Module is control system core and has assigned to control task, it be by lower limb controlling device, upper limbs controller, hand controller, head control, each joint of upper limbs, each joint of lower limb, each joint of hand, each joint of head totally eight large control sections form.
Control system core of the present invention adopts closed loop dsp controller, carries the load weight of whole robot, and power output is large, and the precision of control is high, is directly connected to the realization of robot motion.
As a preferred embodiment of the present invention, communication module of the present invention adopts CAN to communicate between main control computer and each controller, and CAN communication has outstanding reliability, real-time and flexibility.
As another kind of preferred version of the present invention, described closed loop dsp controller to be connected with main control computer by CAN and to communicate, and receives the order of main control computer and bottom-up information is fed back to main control computer; Closed loop dsp controller is connected in bus by CAN transceiver.
The invention has the beneficial effects as follows.
The present invention adopts CAN technology and closed loop dsp controller, provides a kind of Motion Controller for Humanoid Robot based on CAN, achieves wireless real-time walking function; Whole kinetic control system can be directly embedded in robot body, the control task of regulation is completed satisfactorily in practice operation, control system of the present invention also has very strong expanded function, and can be transplanted to easily in other similar controlling organizations and go, be a kind of multifunctional general control system.
Accompanying drawing explanation
Fig. 1 is a kind of Motion Controller for Humanoid Robot structural schematic block diagram based on CAN of the present invention.
Wherein, 1 be main control computer, 2 be CAN interface card, 3 be CAN, 4 be lower limb controlling device, 5 be upper limbs controller, 6 be hand controller, 7 be head control, 8 be each joint of upper limbs, 9 be each joint of lower limb, 10 be each joint of hand, 11 for each joint of head.
Detailed description of the invention
As shown in Figure 1, be a kind of Motion Controller for Humanoid Robot structural schematic block diagram based on CAN of the present invention.Figure comprises three large modules: main control computer module, communication module, execution level module; First main control computer module is jointly made up of main control computer 1 and CAN interface card 2, and secondly communication module is made up of to come the signal intelligence of responsible overall system control CAN 3; Finally that Executive Module is control system core and has assigned to control task, it be by lower limb controlling device 4, upper limbs controller 5, hand controller 6, head control 7, each joint of upper limbs 8, each joint of lower limb 9, each joint of hand 10, each joint 11 of head totally eight large control sections form.
Communication module of the present invention adopts CAN 3 to communicate between main control computer 1 and each controller, and CAN 3 communication has outstanding reliability, real-time and flexibility; Described closed loop dsp controller is connected with main control computer 1 by CAN 3 and communicates, and receives the order of main control computer 1 and bottom-up information is fed back to main control computer; Closed loop dsp controller is connected in bus by CAN 3 transceiver.
Claims (4)
1. based on a Motion Controller for Humanoid Robot for CAN, comprising three large modules: main control computer module, communication module, execution level module; It is characterized in that: first main control computer module is jointly made up of main control computer (1) and CAN interface card (2), secondly communication module is made up of to come the signal intelligence of responsible overall system control CAN (3); Finally that Executive Module is control system core and has assigned to control task, it be by lower limb controlling device (4), upper limbs controller (5), hand controller (6), head control (7), each joint of upper limbs (8), each joint of lower limb (9), each joint of hand (10), each joint of head (11) totally eight large control sections form.
2. a kind of Motion Controller for Humanoid Robot based on CAN according to claim 1, is characterized in that: described communication module adopts CAN (3) to communicate between main control computer (1) and each controller.
3. a kind of Motion Controller for Humanoid Robot based on CAN according to claim 1, is characterized in that: described control system core adopts closed loop dsp controller, carries the load weight of whole robot.
4. a kind of Motion Controller for Humanoid Robot based on CAN according to claim 3, it is characterized in that: described closed loop dsp controller is connected with main control computer (1) by CAN (3) and communicates, and receives the order of main control computer (1) and bottom-up information is fed back to main control computer (1); Closed loop dsp controller is connected in bus by CAN (3) transceiver.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410427844.4A CN105397814A (en) | 2014-08-28 | 2014-08-28 | Humanoid robot movement control system based on controller area network (CAN) bus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410427844.4A CN105397814A (en) | 2014-08-28 | 2014-08-28 | Humanoid robot movement control system based on controller area network (CAN) bus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105397814A true CN105397814A (en) | 2016-03-16 |
Family
ID=55463734
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410427844.4A Pending CN105397814A (en) | 2014-08-28 | 2014-08-28 | Humanoid robot movement control system based on controller area network (CAN) bus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105397814A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426195A (en) * | 2016-08-31 | 2017-02-22 | 佛山博文机器人自动化科技有限公司 | Control device and method for humanoid robot |
| CN109048914A (en) * | 2018-09-07 | 2018-12-21 | 天津福云天翼科技有限公司 | A kind of joint of robot servo-control system |
-
2014
- 2014-08-28 CN CN201410427844.4A patent/CN105397814A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426195A (en) * | 2016-08-31 | 2017-02-22 | 佛山博文机器人自动化科技有限公司 | Control device and method for humanoid robot |
| CN109048914A (en) * | 2018-09-07 | 2018-12-21 | 天津福云天翼科技有限公司 | A kind of joint of robot servo-control system |
| CN109048914B (en) * | 2018-09-07 | 2024-03-29 | 天津福云天翼科技有限公司 | Robot joint servo control system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204302727U (en) | A kind of real-time control system based on ARM and FPGA | |
| CN105397814A (en) | Humanoid robot movement control system based on controller area network (CAN) bus | |
| CN205427617U (en) | Agent tracker that remove more based on zigBee technique | |
| CN103192389A (en) | System and method for controlling exoskeleton robot | |
| CN103914066A (en) | Agricultural machine automatic navigation controller and control method | |
| CN202257212U (en) | Humanoid robot control system | |
| CN102360190A (en) | Humanoid robot control system | |
| CN205049925U (en) | Novel robot control system based on etherCAT bus | |
| CN104898466A (en) | Communication control circuit for laser tracker | |
| CN206115158U (en) | Multifunctional smart watch | |
| CN203306138U (en) | Quasi-man biped robot based on hydraulic system | |
| CN204732643U (en) | Intelligence USB flash disk stores power data line | |
| CN203276266U (en) | Intelligent adapter | |
| CN205210574U (en) | Two obs core control modules based on microcontroller realizes FPGA data configuration | |
| CN106254632A (en) | Remote operation controller | |
| CN207690016U (en) | A kind of instant glove for sign language translation | |
| CN206048214U (en) | A kind of walking class Intelligent bionic machinery people | |
| CN203357456U (en) | Robot controller based on STM 32 | |
| CN204423364U (en) | A kind of single chip computer device expanding RS485 communication interface | |
| CN205263591U (en) | Household security robot control system based on GPRS network | |
| CN204406086U (en) | A kind of agricultural robot wireless interaction system | |
| CN205281256U (en) | Intelligent vehicle control system based on bluetooth wireless remote control | |
| CN204302730U (en) | A kind of device based on wireless singlechip Controlling solenoid valve | |
| CN215186797U (en) | Differential data and protocol conversion embedded gateway equipment | |
| CN204721371U (en) | A kind of things-internet gateway device being applied to Industry Control |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160316 |