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中文摘要：
针对SIAHMR-I模特机器人的机械结构特性和机器人控制系统对实时性和稳定性要求,设计和实现了具有三层结构的基于can总线的分布式控制系统,包括了机器人主控层,基于CAN总线系统通信层,以及底层节点执行层,并且给出了整个机器人系统的控制结构和节点控制器的软、硬件原理图以及增量式PID位置控制设计方案,并且完成搭建了机器人控制系统实验平台.实验结果表明,控制系统性能良好,能够实现真实的模拟人体的体型和姿态动作,并且可靠性和抗干扰能力强.
英文摘要：
Aiming at characteristics of robot mechanical structure and red-time and stability requirements of the SIAHMR-I model robot,it designs and realizes a three layers distributed control system based on can bus,including the master layer of the robot on PC,CAN bus protocol layer,and underlying implementation layer on node controller.And the node controller schematic about hardware and software,and PID control design are given,and a robot control system experimental platform has been to build.And the results show that the performance of the control system is fit for SIAHMR-I model Robot,strong anti-interference ability of motion simulation.
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