摘要
采用主从式控制模式,研究了凸轮控制驱动式四足机器人的控制系统。简要介绍了四足机器人的机械系统,包括行走系统和转弯系统,分析了凸轮控制驱动的参数原理。在此基础上,采用主从式控制方式,设计了四足机器人的控制系统。分别从控制函数原理、硬件结构和软件结构三方面,重点讨论了以8051单片机为控制器的行走机构和转向机构的控制系统设计。
It designed a control system quadruped robot based on cam control drive.The robot’s mechanical system was introduced briefly including the leg mechanism and the cam control drive mechanism.Then,three control parameters of the cam control drive mechanism were analyzed.Based on this work,the control system of the robot was designed.Especially,control systems of the stepped mechanism and the wheel mechanism based on 8051 MCU were analyzed detailed from the aspects of control theory,hardware structure and software structure.
出处
《机械设计与制造》
北大核心
2010年第10期154-156,共3页
Machinery Design & Manufacture
基金
聊城大学大学生科技文化创新基金项(SRT08106QC2)
