摘要
移动机器人运动控制器采用模块化设计,使其设计不再局限于某一个特定的应用环境,并使设计者可以从具体的动作控制中解脱出来,集中精力于高层设计上,提高了设计效率和系统执行效率。本文对运动控制器进行了层次分析并重点介绍了基于专业控制芯片LM629的执行层集成设计方案。
The movement controller of mobile robot is designed by modularization method.It is not limited in a certain specific application anymore.At the same time,this design releases the designers from the detail of the action control,enables them to give their most attention to the upper design,and enhances the design efficiency and the system efficiency.In this paper,the arrangement of the movement controller is analyzed,and then mainly introduces the compositive scheme of the execution layer which is based on the professional motion-control processor LM629.
出处
《机电工程技术》
2006年第9期83-86,共4页
Mechanical & Electrical Engineering Technology
基金
华南理工大学高水平大学建设项目
关键词
移动机器人
电机控制
模块化
mobile robot
motor control
modularization
