摘要
以电机专用控制芯片F2812 DSP为核心构建了仿生六足机器人多电机控制系统.设计和编制了相应的硬件电路和软件流程,使PWM周期达到20μs左右,将机器人控制系统的整体性能大大提高;仿真实验结果证明,该控制系统运行稳定、性能可靠,为仿生六足机器人技术的进一步完善奠定了基础;所探讨的技术方法和设计思路还可为其他类型机器人的开发和研制提供借鉴和参考。
Based on the special control chip F2812 DSP, this paper establishes a Hexapod Walking Bio-Robot Multi-motor Control System, and designs corresponding hard circuit and software flow, making the periods of PWM up to 20μs, which greatly improves the robot control system＇s real time performance. The simulation results show that the control system runs steadily and has secure performance, which offers a basis on further perfecting the control technology of Hexapod Walking Bio-Rohot. The research method and design process also provide references to the exploitation and developing of other kinds of robots.
出处
《计算机测量与控制》
CSCD
2008年第4期491-493,共3页
Computer Measurement &Control
