基于EPA-FRT的仿人机器人控制系统双网络平台

Hanrong Lu, Feng Zheng, Haitao Wei, Li Lu
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引用次数: 0

摘要

为了完成复杂的运动和与环境的交互,人形机器人需要配备许多电机、伺服驱动器和传感器,以提供足够的自由度,实现快速响应并获取足够的传感器数据。随着驱动器和传感器数量的增加,商用伺服驱动器和传感器提供的大多数接口不能满足性能要求。在机器人系统和变频驱动(VFD)控制系统等高速运动控制场景中,采用实时以太网是一个趋势。提出了一种基于EPA-FRT的仿人机器人双网络控制方案,建立了CAN接口和以太网接口兼容的系统。给出了双网系统的网络结构和调度方案。进行了原型测试,并与CAN总线进行了比较。实验结果表明了该方案的有效性和优越性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
An EPA-FRT based dual-network platform for humanoid robot control systems
In order to accomplish complex movements and interact with the environment, humanoid robots are required to be equipped with many motors, servo drivers and sensors to provide enough DOF, achieve fast responses and acquire adequate sensor data. Most interfaces that commercial servo drivers and sensors provide cannot satisfy the performance requirement as the number of drivers and sensors grows. Adopting Real-Time Ethernet is a trend in high-speed motion control scenarios such as robot systems and variable-frequency drive (VFD) control systems. This paper proposes an EPA-FRT based dual-network scheme for humanoid robot control and establishes a system that is compatible to both CAN and Ethernet interfaces. The network structure and scheduling scheme of the dual-network system are presented. A prototype test is performed and analyzed compared to the CAN bus. Experimental results show the effectiveness and advantage of the scheme.
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