四足仿生机器人关节运控制器研究与设计.docVIP

四足仿生机器人关节运动控制器研究与设计 　　[摘 要]仿生机器人是依据仿生学原理，模仿生物结构、运动特性等设计性能优越的机电系统，已逐渐在反恐防爆、太空探索、抢险救灾等复杂任务环境中突显出良好的应用前景。目前国内外有关机器人控制系统存在问题在于设计中通常用AVR系列微控制器 ， DSP系列控制器等对机器人系统进行控制。由于四足机器人需要在地面稳定运动，而且对周围环境有很强的适应性，不仅需要实时采集其运动过程中的姿态并且对其做出相应的调整，且需要实时感知足端受到的地面冲击力然后对其控制，而STM32完全满足四足机器人运动控制系统的要求。因此，设计了以其为核心的四足机器人控制系统，并具体地阐述了它的整体设计方案、软件设计与硬件设计，最后通过仿真结果证明该设计能够实现精确、实时控制四足仿生机器人。 　　[关键词]仿生机器人；运动控制系统；控制器；STM32； 　　中图分类号：TM771 文献标识码：A 文章编号：1009-914X（2017）12-0251-02 　　Design and Research of Joint Motion Controller for Four - legged Bionic Robot 　　MA Peng-bo 　　（School of Information Engineering， Henan Institute of Technology， Xinxiang 453000，China） 　　[Abstract]Bionic robot is based on the principle of bionics， imitation of biological structure， sports characteristics and other design performance of the mechanical and electrical system， has gradually in the anti-terrorism explosion， space exploration， disaster relief and other complex mission environment highlights a good application prospects. At present， the problem at home and abroad is that the design of the AVR series of microcontrollers， DSP series controller is difficult to control the small robot system. Because the quadruped robot needs to be stable on the ground and has a strong adaptability to the surrounding environment， it has a higher demand for the volume and weight of the control system， and needs to acquire the attitude of the four steps in real time and make it The corresponding adjustment， and the need for real-time perception of foot impact by the ground and then its control. And STM32 fully meet the quadruped robot motion control system requirements. Therefore， the four-foot robot control system with its core is designed， and its overall design scheme， software design and hardware design are expounded. Finally， the simulation results show that the design can realize the accurate and real-time control of the four-legged bionic robot aims. 　　[Key words]Bionic robot； Motion control system；Controller； STM32； 　　前言 　　?S着机器人技术的迅