摘要
文章介绍了一种多用途的开放型机器人控制器,它用SERCOS作为多轴运动的低层运动控制通讯协议,DSP为运动学计算辅助手段,还简介了此种轻型机器人系统的软硬件结构,各功能模块及相互作用,和完成多任务的数据结构。
This paper introduces a universal opened robot control system,which based on SERCOS multi-motion proto-col and adopted DSP technique as auxiliary way to compute.It also explains the main hardware and software structure as well as the interaction of various modules.Finally It shows an experimental system and demonstrates the effectiveness of new proposed robot system.
出处
《计算机工程与应用》
CSCD
北大核心
2001年第21期152-155,共4页
Computer Engineering and Applications
