拟人机器人设计--嵌入式课程设计.docVIP

摘要 为满足低成本、高性能的要求, 提出在拟人机器人控制器的设计中引入基于ARM 处理器和RTO S (Real2timeO S) 的嵌入式系统。使用ARM 9 处理器S3C2410 和RT2Linux构建小型拟人机器人控制器的系统架构, 以拟人机器人的行走控制为例, 从硬件和软件上介绍了控制器的实现方法。硬件选用高集成度的嵌入式处理器并采用模块化设计; 软件开发中使用Petri 网建模并利用Linux 良好的驱动程序框架,降低了开发难度, 提高了系统的可扩展性。最后给出了在机器人避障中的应用, 验证了控制器方案的可行性, 为拟人机器人的进一步研究提供了平台，年来全密封免维护铅酸蓄电池其密封好、无泄漏、无污染等优点，能够保证人体和各种用电设备的安全，而且在整个寿命期间，无需任何维护，从而揭开了铅酸蓄电池发展历程新的一页。众所周知，通信设备一般都采用免维护电池作为备用电源，许多电子设备必须的不间断电源系统（UPS）也离不开免维护电池，此外在应急灯、汽车、游艇中也越来越多的选用免维护电池。然而，由于充电方法不正确，充电技术不能适应免维护电池的特殊需求，造成电池很难达到规定的循环寿命。Abstract A low cost, high performance humanoid robot controller was developed based on the ARM processor and the RTOS( real2time OS). The controller system architecture consists of aS3C2410 chip with the ARM 9 co re running RT2Linux. The implementation including hardware and software is illustrated by a robot walking example. The hardware platform uses a modular design with a highly inter grated embedded CPU. A Petri net is used to model the control flow. The software is based on the Linux device driver frame with simplifies the system and improves the expansibility. The control system successfully enabled the robot to evade obstacles and provides a platform for further development of humanoid robots. without leakage, and pollution-free advantages, without any maintenance, thus unveils the lead-acid batteries development a new page. and many electronic equipment must be uninterrupted power supply system (UPS) is inseparable from mianweihu battery, in addition in emergency light, automobile, yacht also more and more choose mianweihu batteries. However, due to the charging methods is not correct, charging technology can not adapt to the free maintenance batterys special demand, it is difficult to reach the prescribed caused battery life cycle. Key words: humanoid robot; servo; embedded system; Petri net; device driver； 目 录 1 设计简介 1 1.1嵌入式简介 1 1.2拟人机器人简介 2 1.3嵌入式系统的设计简介 4 2拟人机器人系统架构 8 2. 1　拟人机器人机械结构设计 8 2. 2　拟人机器人控制器硬件设计 9 2. 3　拟人机器人控制器软件设计 11 3 拟人机器人步行控制方案 12 4　 应用实例 16 5心得与体会