摘要
为了提升特种救援机器人的控制水平和运动性能,采用分层递阶方式构建了机器人的控制体系;这种控制体系既可保证机器人整体运动的协调性,还可保证机器人不同电机按需运动的独立性,使机器人对非结构化环境具有较强的适应性;基于分层递阶的设计思路,完成了机器人控制系统各个模块的硬件电路设计,搭建了机器人硬件控制平台,且以TMS320F2812芯片为核心,设计了行进电机和越障电机控制器,并对其电路设计进行了阐述;为了检验控制系统对伺服电机精确运动的控制效果,对机器人使用的直流无刷电机进行了相关实验;结果表明该控制系统具有控制精度高、系统稳定性好、环境适应性强等特点,适合在特种救援机器人上使用。
To improve the control level and kinematic characteristics of the special rescue robot,the robot＇s control system is constructed by layered hierarchical control structure.This structure can ensure both coordination and independence of the robot＇s motion and make the robot possesses highly adaptive individual for unstructured environments.Based on the control system architecture,the circuit of each module is designed,which formed the hardware platform of the robot.Then a controller for walking motor and obstacle motor based on TMS320F2812is proposed,and the circuit design of the controller is introduced emphatically.In order to test the performance of the control system,the related experiments are put into execution.The results shows that it has high control accuracy,system stability and environmental adaptability,proves that it is applicable in special rescue robot.
出处
《计算机测量与控制》
北大核心
2013年第12期3268-3271,共4页
Computer Measurement &Control
基金
国家×××部预研基金项目
