摘要
为适应复杂的工业环境,设计了一种STC8A系列单片机为控制核心的多功能复合机器人。通过分析四轮全向移动机器人的运动模型,构建了偏差耦合控制与模糊PID控制算法,提升了机器人移动平台的平稳性;利用寻迹和OpenMV OV9650图像识别模块识别AprilTag信息,实现机器人巡航和物料的精准抓取与操作。测试结果表明:所设计的复合机器人具有良好的稳定性,能很好地完成抓取工作。
In order to adapt to the complex industrial environment,a multi-function compound robot using STC8A series MCU as the control core is designed.By analyzing the motion model of four-wheel omnidirectional mobile robot.the deviation coupling control and fuzzy PID control algorithm are constructed to improve the stability of the mobile platform of the robot.The tracking and OpenMV OV9650 image recognition modules are used to identify the AprilTag information,so as to realize robot cruising and accurate grasping and operation of materials.Test result shows that the designed composite robot has good stability and can complete the grasping work well.
作者
邓杰
文家雄
杨礼萍
苟良英
DENG Jie;WEN Jiaxiong;YANG Liping;GOU Liangying(College of Intelligent Control,Sichuan Institute of Information Technology,Guangyuan 628040,China)
出处
《传感器与微系统》
CSCD
北大核心
2024年第6期84-87,共4页
Transducer and Microsystem Technologies
基金
广元市指导性科技计划项目(21ZDYF0041)。
