基于人机交互的舵机机器人的运动控制分析.doc

基于人机交互的舵机机器人的运动控制分析 摘要 关键词：Motion control of servo robot based on human-computer interaction Abstract：After decades of development, the robot has now gone into the various fields of human beings.. The robot not only can replace the boring work and even dangerous work, but also can replace the high accuracy of the work. Because of its unique adaptability and the humanoid nature, biped robot has become an important developing direction in the robot field. By controlling the motion of the robot, it can realize the complex movement of the robot. Therefore, the robot motion control strategy is the important content of the robot research. This paper using the Bioloid to build a robot with two legs. Designing the robot body’s structure at first,then selecting and using the AX-12+ servos that is high efficiency,high torque and easy position, with all suite assembled into a robot who can smooth standing and walking ,it can make simple movements also. Using RoboPlus software RoboPlus motion (motion editing) to edit and store a specific action of the steering gear, and using RoboPlus task (control) executive action file stored so that the robot can independent action, and writing the RC-100 control handle of the program , the robot can correspond action according to the different signal from RC-100 issued, so it realizes the human-computer interaction control of the servo robot . Keywords: servo robot, human-computer interaction, motion control, RoboPlus 目 录 1 绪论 1 1.2 机器人的发展史及发展趋势 1 1.3 Bioloid套件 2 1.3.1 Bioloid零件介绍 2 1.3.2 Bioloid的丰富功能 4 1.3.3 Bioloid使用时的注意事项 5 1.4 论文的主要研究工作 5 2 机器人控制系统硬件设计 6 2.1 控制器CM-530 6 2.2 舵机的选择及工作原理 8 2.2.1 舵机的选择 8 2.2.2 舵机的工作原理 9 2.2.3 AX-12+舵机的控制 9 2.3 感应元件 9 2.5 本章小结 10 3 机机器人控制系统软件设计 11 3.1 RoboPlus 11 3.1.1 RoboPlus Task 11 3.1.2 RoboPlus Motiom 12 3.1.3 RoboPlus Manager 13 3.2 烧录下载至控制器 14 3.3 本章小结 16 4 舵机机器人的行为控制 17 4.1 舵机机器人信号的输入和输出 17 4.2 行为控制逻辑（RoboPlus Task） 17 4.3 RoboPlus Task的使用 17 4.4 RoboPlus Task命令语法 19 4.