摘要
以四轮八驱全向移动机器人为研究对象,结合ROS系统软件框架,设计了机器人底盘ARM运动控制器。首先根据底盘硬件架构,得出ARM控制器硬件资源输入需求;根据硬件资源需求对各功能模块原理进行设计,并实际制作焊接了ARM控制器实物;在软件层面上在STM32F407内核上移植了ROS底层封装库,通过Topic话题的订阅和发布与顶层IPC工控机进行数据通信。
This paper studies four-wheel eight-drive omnidirectional mobile robot. Combined with the ROS system software framework, the robot chassis ARM motion controller is designed. According to the chassis hardware architecture, the hardware resource input requirements of ARM controller are obtained. According to the requirements of hardware resources, the schematic diagram of each functional module is designed, and the ARM controller is actually manufactured and welded. On the software level, the ROS underlying encapsulation library is transplanted on the STM32 F407 kernel, and data communication is conducted with the top-level IPC through topic subscription and publication.
作者
韩雪
李有为
张忠
张朋
HAN Xue;LI Youwei;ZHANG Zhong;ZHANG Peng(School of Mechanical and Electronic Engineering,Pujiang College,Nanjing University of Technology,Nanjing 210000,China;Jiangsu Deeplearning Intelligent Technology Co.,Ltd.,Nanjing 210000,China)
出处
《机械工程师》
2020年第2期8-9,12,共3页
Mechanical Engineer
基金
南京工业大学浦江学院校级项目(NJPJ2018-2-01)。
