摘要
设计了一款基于STM32芯片的小型四足机器人控制系统。该控制系统通过驱动控制板PCA9685输出12路PWM波实现机器人的运动,通过无线蓝牙模块实现机器人的非接触控制。经过实验,在该系统的控制下,12自由度小型四足机器人能够在对角步态下稳定行走,并完成原地转弯动作。
In the paper,a small quadruped robot control system based on STM32 chip is designed.The control system realizes the joint motion control of the robot by outputting 12 PWM waves through the drive control board PCA9685,and realizes the non-contact control of the robot through the wireless bluetooth module.After testing,the 12-DOF small quadruped robot can walk stably in the diagonal gait and complete the in-situ turning action under the control of the system.
作者
王腾飞
秦刚
陈忠孝
李茂
张浩杰
Wang Tengfei;Qin Gang;Chen Zhongxiao;Li Mao;Zhang Haojie(Electronics and Information Engineering,Xi'an Technological University,Xi'an 710021,China)
出处
《单片机与嵌入式系统应用》
2019年第10期72-74,共3页
Microcontrollers & Embedded Systems
