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Distributed Control System of Space Robot

  • 2013-09-22
  • 372.68KB
  • Points it Requires : 1

In view of the characteristics of the six-degree-of-freedom robot control system and the impact of the space environment on the system, a distributed visual servo control system based on the dual redundant design concept is proposed. The system consists of a main control computer and multiple nodes such as joint controllers, gripper controllers, and hand-eye vision controllers. The system uses a two-level hot and cold dual redundant CAN bus as the communication bus between modules, and each node adopts a dual redundant design. Each intelligent node completes the control function of the robot system through the planning and coordination of the main control computer, solving the problems of processing power, space adaptability, and communication real-time of the space robot control system. The system integration and performance and function tests were carried out to verify the feasibility of the design scheme. Keywords: servo control system; space environment; six-degree-of-freedom robot; CAN bus; dual redundancy

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