魔方机器人控制系统设计

Control System Design of Magic Cube Robot

基于ARM的多自由度魔方机器人能够将任意打乱的三阶魔方快速还原。在研究各种魔方机器人机构的基础上,设计了一种体积小、速度快、性能稳定的机械结构,能使魔方机器人适应不同环境。通过嵌入式系统在魔方机器人控制中的应用,改变了现有魔方机器人的控制结构和功能,提高了机器人控制的灵活性、开放性和实时性、功能性。针对当前魔方机器人视觉系统的研究,提出了一种基于嵌入式的视觉检测方案,满足低成本、稳定性强的要求,能够适应复杂光照环境。

A magic cube robot with multi degree of freedom based on ARMcan quickly recover any upset magic cube. Based on studying of a variety of robot structure,the mechanical structure of small volume,high speed and stable performance are designed,which can make the magic cube adapt to the different environment in the rotating process. Through embedded system application in magic cube robot control,the controlling structure and function of the existing magic cube robot are changed,which improves the flexibility,openness and real- time,and functional of robot control. Through the current study of the magic cube robot vision system,a kind of visual detection scheme is put forward based on Embedded System,which can meet the requirements of lowcost,high stability and adapt to the complex illumination environment.