摘要
为在危险环境下进行精确地面排障,研发了一种基于STM32RCT6的无线地面智能排障小车系统。该系统由控制模块、无线模块、机械臂驱动模块等组成。系统采用主从控制方法。主控模块采集到外界控制信号并进行处理,然后通过NRF2401无线模块发送到从模块上;从模块接收主机发送的信号并处理为电机转速和舵机方向控制信息,由三档开关输出给6个舵机以控制机械臂的姿态。该系统可以远距离、高精度完成速度、方向以及机械臂的运动轨迹控制,完成对物品抓取、转移等功能。
In order to carry out the accurate ground clearance in the dangerous environment,a wireless ground intelligent trouble shooting car system based on STM32 RCT6 is developed.The system consists of the control module,wireless module,robot arm drive module,etc.,and the main and subordinate control method is adopted in the system.The main control module collects the external control signal for processing,and then sends it to the modules through the NRF2401 wireless module.The signal sent by the host computer is received through the modules and processed into the motor speed and steering control information,which is output by the three-gear switch to the six-steering engine to control the posture of the manipulator.The system can accomplish the speed,direction and movement trajectory control of the manipulator in a long distance with high precision to complete the functions of grasping,transferring,etc.,of items.
作者
韩团军
Han Tuanjun(College of Physics and Telecommunications Engineering,Shanxi University of Technology, Hanzhong 723000, Chin)
出处
《实验技术与管理》
CAS
北大核心
2018年第6期151-155,共5页
Experimental Technology and Management
基金
国家自然科学基金项目(61401262)
陕西省教育厅基金项目(16JK1151)
陕西理工大学2017年科研基金项目(SLGKY2017-16)
