竞赛机器人多舵机控制方法的研究与实现

Research and Implementation of the Multiple Steering Engine Control Method for Competition Robot

针对竞赛机器人中多舵机的运动控制,研究了以Atmega128为主控芯片的多路舵机控制方法的设计与实现。通过单片机内部定时器匹配中断和分时复用的方法,实现了多路舵机精准的位置控制,并实时优化多路舵机的最小步长,满足了多路舵机的速度控制要求。设计了AVR的Bootloader自引导程序,结合Visual Basic 6.0开发了一款简易的多舵机可视化编程调试软件,实现了PC机与AVR之间数据通信、下载、更新动作库等功能。该软件被成功应用于中国机器人大赛中。

In view of the motion control of multi - steering engine in competition robots,the design and implementation of the control method with Atmega128 as the main control chip are studied for multi - steering engine. With the features of timer matching interrupt and time division multiplexing in single chip computer, the precise position control of multi- steering engine is realized, and the minimum step length of multi - steering engine is optimized in real time, which satisfies the speed control for multi - steering engine. The Bootloader for AVR is designed, and the visualized programming and debugging software is developed with help of Visual Basic 6.0 to meet the requirements of implementing functions of data communication between PC and AVR, download and update action library. The method has been applied in China Robeeup.