双足步行机器人嵌入式控制系统设计
首发时间:2018-03-09
摘要:机器人想要实现预期的行为目标,需要有良好的控制系统。本文基于实验室自主设计的23自由度双足步行机器人样机,首先分析了双足步行机器人控制系统的发展趋势,提出机器人控制系统的设计要求。其次结合机器人样机的功能需求,采用分布式的设计原则设计了基于STM32F4处理器和uC/OS-III实时操作系统的嵌入式控制系统并介绍该控制系统的软硬件实现。最后,将控制系统应用于机器人样机上,证明该控制系统的可行性与可靠性。
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Design of Embedded Control System for Biped Walking Robot
Abstract:The robot wants to achieve the expected behavior goal, a good control system is necessary.This paper is based on the laboratory independent design of 23-dof bipedal walking robot prototype.Firstly,The development trend of the bipedal walking robot control system is analyzed.Then,requirements of the control system is proposed.Secondly, based on the characteristics of robot prototype, an embedded control system based on STM32F4 processor and uC / OS-III is designed based on distributed design principle, the software and hardware of the control system are introduced. Finally, the control system is applied to a robot prototype,It verifies the feasibility and reliability of the control system.
Keywords: robot distributed control embedded system control system????
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