Unified Control System for Modular Reconfigurable Robots

被引：0

作者：

Romanov, Alexey M. ^{[1
]}

Mikheenko, Ivan S. ^{[1
]}

机构：

[1] MIREA Russian Technol Univ, Inst Cybernet, Control Problems Dept, Moscow, Russia

来源：

PROCEEDINGS OF THE 2019 IEEE CONFERENCE OF RUSSIAN YOUNG RESEARCHERS IN ELECTRICAL AND ELECTRONIC ENGINEERING (EICONRUS) | 2019年

关键词：

reconfigurable robots; distributed power system; Ethernet Powerlink; FPGA;

D O I：

10.1109/eiconrus.2019.8656759

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This article describes the process of creating a modular reconfigurable robot based on a unified control system using FPGAs and Ethernet PowerLink protocol. The basis of the theoretical framework was the analysis of world approaches and practical solutions in this area, using the results of previous studies and developments of the authors. Particular attention is paid to the work of the onboard-distributed power supply system. As a result, a control board and software for it were implemented, a system of reconfigurable robots was created from several modules using the FischerTechnik construction set. Experimental studies of the developed solutions for the implementation of a modular reconfigurable robot have been carried out, proving their efficiency and effectiveness compared with similar solutions.

引用

页码：661 / 665

页数：5

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