机械与电子Issue(7)：68-71,72,5.
分布式擦窗机器人控制系统设计
Design of a Distributed Control System for a Glass Wall Cleaning Robot
姜龙光 1王巍2
作者信息
- 1. 海军装备部舰船办，北京 100036
- 2. 北京航空航天大学机器人研究所，北京 100191
- 折叠
摘要
Abstract
To fulfill the demand for openness, real time and reliability,this paper designed a dis-tributed control system for a glass wall cleaning robot “SkyCleaner IV”.The onboard controller of the robot was consisted of an up controller based on ARM micro controller and two bottom con-trollers based on AVR micro controllers.The in-terface and planning software was designed on a PC.For the safety and openness,the software in the up controller was running on a RTOS μC/OS II,and the robot actions were packaged in a DDL running on the PC.The paper presented the rule of the multi tasks distribution,the method of con-structing a interface and planner based on multi thread.关键词
擦窗机器人/分布式系统/实时操作系统/μC/OS ⅡKey words
glass wall cleaning robot/distribu-ted system/RTOS/μC/OS Ⅱ分类
信息技术与安全科学引用本文复制引用
姜龙光,王巍..分布式擦窗机器人控制系统设计[J].机械与电子,2014,(7):68-71,72,5.
