三足全向移动机器人运动控制系统的设计与实现

Design and Implementation for the Motion Control System of Three Wheeled Omni-directional Mobile Robot

全向移动机器人可以在不改变自身位置的情况下实现多方向的快速运动,在全向移动机器人领域中以三足全向移动机器人最为突出。本文为保证机器人运动控制系统的实现,对控制系统硬件结构进行了设计、选型、优化,最后选择了利用MSP430单片机作为运动控制系统微控制器,搭载无线通信模块、电机驱动模块、传感器模块的移动机器人控制系统方案。

Multi-directional robot can move in different directions without changing its posture.In these multi-directional robots,the most popular one is three wheeled multi-directional robot.In order to realize the motion control system,the design,selection and optimization of the system has been taken.Using the MSP430 Single chip microcomputer,as long as the wireless communication module、motor driver module and sensor module,we realized the control system.