摘要
介绍了一种RoboCup小型组机器人(F180)的控制系统,该系统以通用性和功能完备为目标,包括主控电路、无线通讯、执行机构(踢球和带球机构等)以及传感器电路等子系统。系统以PIC16F877A单片机为核心,用PWM输出控制直流电机,用计数器检测轮速形成闭环控制,用I/O口控制继电器驱动踢球带球机构,用通用同步/异步收发器(USART)扩展进行无线通讯。实验证明,该控制系统运行效果良好,机器人具备了进行比赛的能力。
The paper introduces the control system of a RoboCup small size league robot（F180）, this system which aims at universal and integrated functions include the sub - systems ： MPU, wireless communication, actuators （kicker and dribbler）, and sensors. The core MCU of the system is PIC16F877A. The system uses PWM outputs of MCU to control DC motors. Timers of MCU are to detect speed of the wheels for forming closed loop. I/O ports of MCU control the kicker and dribbler. The USART is to develop the wireless communication. Experiments show that the control system runs well and the robot have the ability to carry on the competition.
出处
《现代电子技术》
2006年第19期87-90,共4页
Modern Electronics Technique
