四脚柱状甲虫机器人控制系统设计解析.doc

摘 要 近年来，随着计算机技术的飞速发展，机器人的研究及应用得到迅速发展，因其在教育，医疗，军事，工业等领域的巨大应用。因此得到了许多国内外科学家的关注，使用计算机代替人眼及大脑直接对景物环境进行感知、解释和理解计算机视觉已经成为计算机领域的一个热点问题。在地球陆地表面，有超过50%以上的面积为崎岖不平的山丘或沼泽，仅仅依靠轮式机械无法完全实现在这些自然环境中的移动。因此，设计和制造一个类似动物能够在自然环境中步行的机器，一直以来是人类追求的目标。正是这个原因，使得仿生足式机器人的研究成为机器人研究领域的热点之一。其中四足机器人由于既有超于二足机器人的平稳性，又避免了六足机器人机构的复杂性，在工程探险、反恐防爆、军事侦察等具有良好的应用前景，展开该方面的研究具有重要的实际应用价值及社会意义。 本文主要由四部分组成： 第一部分介绍了四脚机器人，阐述了选择本课题的意义，既普及机器人知识，提高机器人应用水平、研究能力的需要深入开展信息技术教育需要，并介绍本课题要就内容。 第二部分主要介绍了单片机AT89S52，多路PWM信号产生并通过PWM信号对8个舵机的控制及分析舵机的驱动电路。 第三部分主要介绍了通过PROTEL99SE的应用绘制电路原理图和PCB图。 第四部分主要介绍了程序编写和机器人的步态分析即机器人如何走起来。 关键词：四脚柱状机器人；控制设计；单片机；步态 ABSTRACT In recent years, with the rapid development of computer technology, the research and application of robot has developed rapidly because of its educational, medical, military, great application industry etc. So many domestic and foreign scientists attention, directly to the scenery environment perception, interpretation and understanding of computer vision has become a hot issue in the field of computer instead of eyes and brain using computer. In the earths land surface, there are more than 50% of the area for more rugged hills or swamp, rely solely on wheeled model mechanical cannot fully implement in their natural surroundings. Therefore, the design and produce a similar animal can in the machine have been walking on the human pursuit of the goal. for that reason, the bionic up in the robots study to become one of the field of robots. Up because both of these four robot has two feet in the robots smooth character and avoids six feet robot institutions of the complexity of the project, the ctc of the explosion-proof housing, the military reconnaissance and have good prospects for the application, expand the research of great practical value and social significance. This paper mainly consists of four parts： The first part introduce the four feet robot, select the subject of universal significance, such knowledge, robotics applications and research capacity of