特种变结构履带式机器人的软件设计

Software design of the special variable structure tracked robot

以特种变结构履带式机器人为研究对象,结合机器人的结构特点和性能指标,搭建了基于STM32的机器人控制系统。采用模块化设计的思想和策略,针对特种变结构履带式机器人的行进模块和可变结构模块进行了软件设计。在系统软件设计中,采用模块化结构和C语言编程,编写了按键控制模块、A/D转换模块、PWM模块等的应用子程序;然后在搭建的硬件平台上进行了相关实验验证。实验结果表明,本文所研制的控制系统能够很好地完成机器人的前进、后退、停止、转弯和变结构等控制任务,且控制系统工作可靠,性能稳定,直流无刷电机动态响应状态良好,步进电机运行平滑,能够很好地满足机器人的性能指标。

According to the special structure of tracked robot , combined with the structure characteristics and performance index of robot, built a robot controller based on STM32. The ideas and methods of modular design, module for travel and variable structure module special variable structure of tracked robot is software design. In the software design of the system, uses the modular structure and C language programming, written application subroutine button control module, A/D conversion module, PWM module and so on; and then in the hardware platform is validated by some experiments. The experimental results show that, the control system which is developed in this paper can easily complete the robot move forward, backward, stop, turn and variable structure control tasks, and the control system is reliable, stable performance, DC brushless motor dynamic response in good condition, step motor running smooth, can satisfy the performance index of the robot very well.