| 基于MSC1210的三肢体机器人足部控制系统 |
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| 引用本文： | 樊继壮, 赵杰, 庞明, 蔡鹤皋,.基于MSC1210的三肢体机器人足部控制系统[J].电子器件,2007,30(1):270-273. |
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| 作者姓名： | 樊继壮 赵杰 庞明 蔡鹤皋 |
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| 作者单位： | 哈尔滨工业大学机器人研究所,哈尔滨,150001 |
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| 摘 要： | 三肢体机器人的足部机构是其实现腿臂功能融合的关键部件.基于TI公司的MSC1210微控制器设计了其足部机构控制系统,用以采集处理机器人足部的多种传感器信息和控制足部各执行机构的动作,并采用CAN总线与机器人主控系统联接以发送传感器信息和接受控制命令.文中详细论述了系统的工作过程及其软硬件实现方法,实验结果验证了系统设计的正确性.
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| 关 键 词： | 三肢体机器人 控制系统 MSC1210 传感器 |
| 文章编号： | 1005-9490（2007）01-0270-04 |
| 修稿时间： | 2006-05-25 |
Foot Control System Design of the Three Limb Robot Based on MSC1210 |
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| FAN Ji-zhuang,ZHAO Jie,PANG Ming,CAI He-gao.Foot Control System Design of the Three Limb Robot Based on MSC1210[J].Journal of Electron Devices,2007,30(1):270-273. |
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| Authors: | FAN Ji-zhuang ZHAO Jie PANG Ming CAI He-gao |
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| Affiliation: | Harbin Institute of Technology, Harbin 150001, China |
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| Abstract: | The foot mechanism of the three limb robot is the key component to realize the combination of leg and arm. Based on MSC1210 of Texas Instruments, the foot control system has been designed to Seed back different sensor information and control the actions of different foot operation mechanisms. CAN bus is adopted to connect the robot control system to send sensor information and receive commands. This paper describes the working process of the control system and its hardware and software realizations, and experiment results have justified the design validity. |
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| Keywords: | three limb robot control system MSC1210 sensor |
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