基于单片机的球型机器人控制系统设计

Development of the robot control system based on single chip microcomputer

针对球型机器人运动过程中自平衡差的问题,设计了一种基于单片机的球型机器人控制系统。系统以单片机STM32F103为核心;使用MPU-6050六轴传感器进行姿态检测,采用卡尔曼滤波对加速度计和陀螺仪的数据进行融合;通过编写相应的控制算法程序,有效地改善球型机器人运动过程中的自平衡。最后对球型机器人控制系统进行了试验与调试,结果表明该控制系统的设计方案可行,达到了控制要求。

Aiming at the self-balance difference of spherical robot during its movement,it designs a spherical robot control system based on single-chip microcomputer. The system takes SCM32 F103 as the micro controller core,uses MPU-6050 six-axis sensor for attitude detection,takes Kalman filter to deal with the data fusion of the accelerator and gyroscope,compiles corresponding control algorithm program to effectively improve the self-balance of spherical robot in the process of motion. It carries out experiments and debugging. The results show that the design scheme of the control system is feasible,and meets the control requirements.