毕业论文（设计）-基于arm9的拟人机器人设计.doc

The University of South China 嵌入式系统课程设计 题 目 基于ARM 嵌入式系统的拟人机器人控制器的设计 电 气 工 程 学 院 指导教师 黄智伟 教授 班 级 电子071 班 学 号 20074470114 学生姓名 王仁茂 2010年11月30日 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。 关键词: 拟人机器人; 舵机; 嵌入式系统; Petri 网; 设备驱动。 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. Key words: humanoid robot; servo; embedded system; Petri net; device driver； 目 录 1.设计简介·······································4 1. 1 嵌入式系统简介····························4 1. 2 拟人机器人简介····························5 1. 3 嵌入式系统设计简介························7 2．拟人机器人系统架构····························10 2. 1　拟人机器人机械结构设计···················10 2. 2 拟人机器人控制器硬件设计··················11 2. 3　拟人机器人控制器软件设计·················13 3　拟人机器人步行控制方案·······················14 4　应用实例·····································18 5 心得与体会···································19 6 参考文献 ··································20 1 设计简介 1.1嵌入式简介 根据国际电气和电子工程师协会（IEEE）的定义，嵌入式系统是“控制、监视或者辅助设备、机器和车间运行的装置”，原文为devices used to control,monitor,or assist the operation of equipment,machi