摘要
工业机器人的普及和应用,让人们对于机器人的智能化提出了更高的要求,机器人不仅要能够在复杂环境中自如移动,也要具有环境交互感知能力。机器人的应用不仅能够节约人力资源,而且能够极大地降低工业运营成本,提升生产效率。研究基于STC15单片机和ARM控制器的移动机器人控制系统,首先介绍底层运动控制系统的硬件电路的设计,其次建立驱动电机的数学控制模型,最后介绍驱动电路的实现过程。
The popularization and application of industrial robots have made people put forward higher requirements for the intelligence of robots.Robots must not only be able to move freely in complex environments,but also have the ability to interact with the environment.The application of robots not only saves human resources,but also greatly reduces industrial operating costs and improves production efficiency.This paper mainly studies the mobile robot control system based on STC15 MCU and ARM controller.Firstly,it introduces the design of the hardware circuit of the underlying motion control system.Secondly,it establishes the mathematical control model of the drive motor.Finally,it introduces the realization process of the drive circuit.
作者
刘程
LIU Cheng(School of Automobile and Electromechanical Engineering,Lu’an Vocational and Technical College,Lu’an 237000,China)
出处
《太原学院学报（自然科学版）》
2019年第4期50-55,共6页
Journal of TaiYuan University:Natural Science Edition
基金
2016年安徽省高等学校质量工程项目机电一体化特色专业建设（2016tszy081）
关键词
单片机
移动机器人
驱动电机
ARM
single chip microcomputer
mobile robot
drive motor
ARM
