全向移动机器人电控系统设计
Design of Electronic Control System for Omni-directional Mobile Robot
王志龙 1赵剡 1杨辉 1吴辉1
作者信息
- 1. 北京航空航天大学仪器科学与光电工程学院,北京100191
- 折叠
摘要
针对现有全向移动机器人电控系统结构复杂、成本高、能耗大的缺点,该文采用ARM7 LPC213x+AVR Mega16单片机的多级主从结构,设计完成了一种小巧、灵活的智能型全向移动机器人电控系统,该系统硬件和软件均采用了模块化设计方法.测试结果表明采用该电控系统后,机器人最终位置定位精度能够达到2 cm以内,角度定位精度能够达到2°以内,能够满足一般的工业应用.
Abstract
For existing omni-directional mobile robot electrical control system shortcomings of high structural complexity, high cost,high energy consumption^ small,flexible,intelligent electronic control system for omni-directional mobile robot with hardware and software all using modular design was designed using a multi-level master-slave structure formed by ARM7 LPC213x+AVR Megal6 microcontrollers in this paper. The test results show that the electronic control system designed and keeps the robot final position positioning accuracy in 2cm and angle positioning accuracy in 2°,and meets general industrial applications.
关键词
全向移动机器人/电控系统/ARM7/模块化设计/主从结构Key words
omni-directional mobile robot/electronic control system/ARM7/modular design/master-slave structure引用本文复制引用
出版年
2012
NETL
NSTL
维普
万方数据