一种基于DSP的移动机器人运动控制器设计

Design of a DSP-based mobile controller for mobile robot

分析了运动控制器对机器人的重要性;提出了一种高性能的基于DSP芯片的运动控制器的整体设计方案,该控制器集控制电路、数据采集模块和驱动电路于一体,能够很好的完成机器人运动轨迹和位置的控制。设计了控制器的硬件电路,重点介绍了驱动电路和电源电路的设计过程。最后,为了实现控制要求,对软件进行了相应的设计。

The importance of the controller for mobile robot is analyzed, a detail design proposal of high-performance DSP- based mobile controller is put forward, the controller include control circuits, data acquisition module and driving circuits, it can control the trail and location of the robot successfully. The circuits of the controller are designed, the design of drive circuits and power circuits is introduced in detail. Finally, the relevant programs are designed to achieve the standards of control.