可重构机器人系统的分布式控制系统设计

istributed control system (DCS) is used in RMRS, because the joints are smart and the DOFs and configuration of RMRS are variable. The whole control system includes three hierarchies, the first hierarchy is path planning, which implements process planning and path assignments; the second one is trajectory planning, generating the sequence of time-based joint variables, and distributing the motion instructions to all joint controllers; the third one is joint controlling, which receives the commands form PC and finishes joint motion control. The control circuit and driver circuit are designed, and the position control software is developed based on PID controller with anti-windup correction.