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排爆机器人属于特种机器人,机械臂是其抓取系统,其稳定性对整个排爆机器人的实用性起着决定性作用。现在常用的控制策略有集中式控制和分布式控制,在考虑排爆机械臂复杂性的情况下,采用分布式控制策略设计其硬件系统和软件系统,最后通过can总线进行通讯。
EOD robots belong to special robots, and robotic arms are their gripping systems. Their stability plays a decisive role in the practicality of the entire exterminating robot. At present, the commonly used control strategies are centralized control and distributed control. In consideration of the complexity of explosive arm, the distributed control strategy is used to design the hardware system and software system. Finally, the communication is conducted through the CAN bus.