实验室机器人实时分布式控制系统的开发与实现

2014 IEEE 11th International Multi-Conference on Systems, Signals & Devices (SSD14) Pub Date : 2014-05-01 DOI:10.1109/SSD.2014.6808888

Y. Bouteraa, Alaa Chabir, Asma Ben Mansour, J. Ghommam

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引用次数: 3

摘要

本文主要研究工业机器人分布式体系结构控制的开发。介绍了一种基于网络微控制器的闭环控制器的硬件实现。所开发的设计是一个实时多任务控制律系统。控制体系结构采用主从结构，分布在5个单片机上。主控单元用于网络管理和与用户界面的通信。各副板着重于相应接头的位置控制。建立了无刷电机嵌入式控制的实现方案。采用I2C协议进行网络管理。开发了用于监测和控制的用户界面。控制是通过usb通信确保兼容驱动程序在三个最流行的平台(windows, Linux和Mac OS)。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Development and implementation of a real time system for distributed control of laboratory robot

This paper focuses on the development of distributed architecture control of an industrial robot. The hardware implementation of a closed loop controller via networked microcontrollers is presented. The developed design is a real time multi-tasking control law system. The control architecture is distributed in five microcontrollers with master slave scheme. The master unit is dedicated for the network management and the communication with the user-interface. Each slave board focuses on the position control of the corresponding joint. An implementing embedded control for brushless motor is established. I2C protocol is implemented for the network management. A user- interface for monitoring and control is developed. The control is done through an usb communication assured with a compatible drivers on the three most popular platforms (windows, Linux and Mac OS).

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来源期刊

2014 IEEE 11th International Multi-Conference on Systems, Signals & Devices (SSD14)

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