华中科技大学学报（自然科学版）2011，Vol.39Issue(z2)：392-394,399,4.
模块化机器人伺服单元总线接入模块的设计
Design of bus access modules of servo drivers for modular robots
摘要
Abstract
In this paper, with the demands of the modular design for robots, a bus access module scheme of servo control systems for modular robots was proposed. The protocol and transmission scheme of robot general bus (Robbus) was introduced and integrated into the bus access module. A bus access module based on the proposed scheme for Guangzhou Shukong alternating current (GSK AC) servo driver was developed and tested. The experimental results demonstrate that the bus access module can fulfill data transmission for servo drivers and reduce complexity of the drive control system structure. The real-time performance and reliability of the bus access modules for servo driver control are also acceptable.关键词
模块化机器人/通信网络/FPGA/伺服系统/单片机/Robbus总线Key words
modular robots/ communication networks/ field programmable gate arry (FPGA)/ servo systems/ microo control unit (MCU)/ Robbus分类
信息技术与安全科学引用本文复制引用
张方元,王硕..模块化机器人伺服单元总线接入模块的设计[J].华中科技大学学报（自然科学版）,2011,39(z2):392-394,399,4.基金项目
国家自然科学基金资助项目(60725309) （60725309）
国家高技术研究发展计划资助项目(2008AA040207 （）
2009AA043901). （）
