Control System Design for Multi-legged Robot with Hand-fused Foot
In this paper, a distributed motion control system is designed and achieved for the modular multi-legged robot with hand-fused foot based on CANopen network. A communication network is built among modules and joints through CANopen network. Controllers and encoders are used to achieve closed-loop control for each joint The system has completed real-time multijointed linkage. Moreover, experimental results have proved the reliability and validity of this control systems hardware and software.
Robot Control system Closed loop
Xinjie Wang Xianqun Zeng Yuxiao Zhang
Department of Electromechanical Science and Engineering, Zhengzhou University of Light Industry,Dongfeng Road No.5, Zhengzhou, Henan, China
国际会议
哈尔滨
英文
1762-1764
2011-08-12（万方平台首次上网日期，不代表论文的发表时间）