摘要
针对机器人寻找场地黑色中心区域的任务要求,研制一种四轮驱动全方位移动机器人。依据机器人所需的驱动力,计算驱动电机的功率,并对电机进行选型,分析机器人的转向性能,设计基于ATmega128单片机的控制系统。机器人性能实验结果表明:设计的全方位移动机器人采用前、后轮逆相位转向时,运动稳定性较好,并能够准确地找到目标点。
The omni-directional mobile robot possessed high flexibility and maneuver-ability,since it can run on the planar surface freely under the precondition of keeping the stance of the robot.Developed a kind of four-wheel-driving omni-directional mobile robot under the condition of finding the black central region of the platform by robot.Calculated the motor power according to the driving force required,selected the type of motor, analyzed the steering performance of robot,designed control system on base of ATmegal128 MCU.Robot performance experiment showed that the omni-directional mobile robot had good stability of motion,and could achieve the position accurately by the reverse turning of front wheels and rear wheels.
出处
《安徽工业大学学报（自然科学版）》
CAS
2011年第1期51-54,共4页
Journal of Anhui University of Technology（Natural Science）
基金
国家863计划项目(2009AA04Z208
2007AA04Z255)
北京市教委科技发展计划资助项目(KM200710017005)
北京市属高等学校人才强教深化计划资助(PHR200907221
PHR201008355)
关键词
全方位移动机器人
控制系统
转向半径
omni-directional mobile robot
control system
turning radius
