摘要
针对搬运机器人的前轮转向舵机和后轮驱动电机的控制要求,采用以Cortex-M3为内核的STM32F107作为主控制器,采用嵌入实时操作系统μC/OS-Ⅱ,将程序分成启动任务、电机转速控制任务、舵机控制任务等相对独立的多个任务,并设定了各任务的优先级。该系统能较好地实现搬运机器人的运动控制。
With the problem of transfer robot front wheel steering engine and rear wheel driver engine control, the design takes STM32F107 as the kernel based on Cortex - M3 and embedded real-time operating system μC/OS-II . It divides the program into initia- ting task, motor＇s speed control task, steering engine control task and other relatively independent tasks, setting the priority of each task. The system can achieve motion control for transfer robot.
出处
《单片机与嵌入式系统应用》
2012年第4期36-38,41,共4页
Microcontrollers & Embedded Systems
