摘要
球形机器人是一种外壳为球形的新型的机器人,依靠球壳内部的驱动单元实现滚动行走,具有很强的稳定性和机动性,其在工业、军事和民用上有着广泛的应用前景.首先介绍了结构简化球形机器人的整体软件功能;其次,设计实现了球形机器人本体控制系统,并将嵌入式实时操作系统μC/OS-Ⅱ移植至本体控制芯片TMS320F2812中,通过实验测试表明移植正确可行;最后设计应用任务,通过嵌入式实时操作系统的调度实现球形机器人各项功能.实验结果表明,该球形机器人具有良好的实时性,其后期维护和功能扩展方便易行,其软件具有良好的稳定性和可靠性.
A spherical robot is a newly-built robot that has a global shell. The robot rolls by an inside drive unit. It has some special advantages such as stability and maneuverability. Consequently,the spherical robot has a bright future in the fields of military affairs, industry and civil application. This paper firstly presents the function struc- ture of the control software in the spherical robot with simplified structure. In the control system, we ported μC/ OS-Ⅱ to TMS320F2812 and tested the porting work. Finally, we designed an application task and implemented all functions of the spherical robot under the scheduling of μC/OS-Ⅱ. The experimental result proves that the robot system has better real-time performance and the software has higher quality which makes maintenance and expansion easier.
出处
《应用科技》
CAS
2011年第9期47-50,共4页
Applied Science and Technology
基金
南京航空航天大学研究生创新基地(实验室)开放基金资助项目(201001009)
