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计算机工程 ›› 2009, Vol. 35 ›› Issue (3): 1-3. doi: 10.3969/j.issn.1000-3428.2009.03.001

• 博士论文 •    下一篇

空间机器人分布式控制系统

史国振1,3,孙汉旭2,贾庆轩2,程时端1,叶 平2,郑一力2   

  1. (1. 北京邮电大学计算机科学与技术学院,北京 100876;2. 北京邮电大学自动化学院,北京 100876;3. 北京电子科技学院电子工程系,北京 100070)

  • 收稿日期:1900-01-01 修回日期:1900-01-01 出版日期:2009-02-05 发布日期:2009-02-05

Distributed Control System in Space Robot

SHI Guo-zhen1,3, SUN Han-xu2, JIA Qing-xuan2, CHENG Shi-duan1, YE Ping2, ZHENG Yi-li2   

  1. (1. School of Computer Science and Technology, Beijing University of Post and Telecommunication, Beijing 100876;2. School of Automation, Beijing University of Post and Telecommunication, Beijing 100876;3. Department of Electronics Engineering, Beijing Electronic Science and Technique Institute, Beijing 100070)
  • Received:1900-01-01 Revised:1900-01-01 Online:2009-02-05 Published:2009-02-05

摘要: 针对六自由度机器人控制系统的特点以及空间环境对系统的影响,提出基于双冗余设计思想的分布式视觉伺服控制系统。该系统由主控制计算机和关节控制器、手爪控制器、手眼视觉控制器等多个节点组成。系统采用冷热两级双冗余CAN总线作为各模块间的通信总线,各节点均采用双冗余设计。各智能节点通过主控计算机的规划和协调完成对机器人系统的控制功能,解决了空间机器人控制系统处理能力、空间适应性和通信实时性等问题,并进行了系统集成和性能、功能的测试,验证了该设计方案的可行性。

关键词: 伺服控制系统, 空间环境, 六自由度机器人, CAN总线, 双冗余

Abstract: Considering the peculiarity of the control system of 6-DOF(Degree of Freedom) space robot and the influence of space environment, a distributed visual servo control system based on the dual-redundancy technology is presented in this paper. This system mainly consists of main control computer, joint controllers and hand-eye controller. Hot & cold redundancy CAN bus is adopted as the communication bus in the system. The design of every function node is based on the dual-redundancy idea. All function nodes are harmonized by the main control computer. The issues of the space robot include the limited capability of control system, the adaptability in space and the real-time of the communication systems. The feasibility of the design has been validated by the integration and test of the function and capability of the control system.

Key words: servo control system, space environment, 6-DOF robot, CAN bus, dual-redundancy

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