轮式机器人控制系统设计.pdfVIP

轮式机器人控制系统设计 摘要 随着移动机器人技术研究的不断深入，机器人涉足的领域越来越广，需要完 成的任务越来越精确复杂，运动的实时性和可靠性要求也越来越高。为适应这一 发展，对机器人的控制系统的要求也逐渐提高，因此，对移动机器人的运动控制 系统进行了设计。 本文通过对轮式机器人发展现状的分析，并根据设计要求，对其进行运动控 制系统硬件电路的设计，主要包括了主控制器电路和电机控制电路的设计。其中 对主控制器电路进行了控制模块和外围模块的设计，对运动控制系统电路板进行 了设计，并对扩展性做了简要的介绍。本文还介绍了基于PCI 总线的以单片机为 控制芯片的运动控制卡的设计，包括芯片的选择，硬件设计，实现了多协调控制。 本套运动控制系统的设计方案，对系统进行了有效的资源配置，更好地提高 了控制的效率。为移动机器人提供一个可靠的平台，为机器人多种功能的实现提 供便利，为今后机器人产业化提供了可能性。 关键词：控制系统电路， 传感器， 运动控制卡 I 轮式机器人控制系统设计 Abstract With the development of robotics ，robots enter various fields to help people. So their tasks become more complex and need to be done with greater accuracy，and the requirements for real time ability and reliability become stricter. To adapt to this trend. The requirements of robots control system are also gradually increase, so the movement control system of mobile robots was designed in the paper. Based on the analysis of wheeled robot development, and in accordance with design requirements, its motion control system hardware circuit was designed, which include the main controller circuit and motor control circuit design. In the paper, the control module and the external module was designed for the main controller circuits. And the motion control system circuit boards were designed with a brief introduction of its expansion. This paper also introduced the design of the movement control card which the microcontroller chip is the control chip based on the PCI bus. It includes the choice of chips, hardware design, aims to achieve a more coordinated control. This design proposal of motion control system makes an effective allocation of resources, improves the efficiency of control. It provides a reliable platform and convenience