基于16位单片机的比赛机器人控制技术的研究-机械设计及理论专业论文.docxVIP

The The Research of competition Robot Control Technology based on 16—-bit Single·-Chip Abstract The robot technology has developed at full．speed for 40 years，already becoming one important development direction of modernized hi曲technology．It is important to develop of each branch of nmional economy The robot technology refers to precise mechanism，organ kinematics，computer science，sensor technology，artificial intelligence，bionics etc．Based on the full researching of the various control objects， this paper puts forward the total design project based on the SPCE061A single—chip and adopts module thoughts to design the circuit of hardware interface．The main contents are as following： 1．An overview on three stages of robot development and domestic and foreign robots development condition are discussed． 2，The organ design includes the motion，grasp and jumping etc．design． 3．Overall structure and constituent are presented．Electric circuit design includes power,key boards，sensors’signal identifed and control of direct current motoL And research reliability technology on Single—Chip exploitation 4．The software design is revolving the autonomous robot software design and the manual robot software design．Automatic robots mainly research the algorithm on tracking．And the manual robot research communication between upper and lower computer． 5．The technology of control direct servo motor is researched．And the author designs direct current motor module and describes functions of the precision orientation and adjusted speed in detail． Key words： Robot，SPCE061A，control system，sensor，track 插图清单图2．1机构设计流程 插图清单 图2．1机构设计流程 ． ．．!i 图2．2比赛场地三维图 6 图2．3机器人移动方案 7 图2．4轮子动力学分析 。 ．8 图2．5扭矩作用过程 ． ．．． ．．8 图2,6电动示机械手示意图 ¨． ．10 图2．7跨栏机构实物图 ．．． ．10 图3．1控制系统结构框图。 14 图3．2 SPCE061A的模块结构图 15 图3,3 ICL7600等效电路 16 图3．4极性反转电路图 17 图3．5 7800系列外部引脚 18 图3．6电源稳压电路 18 图3．7键盘电路 20 图3．8键盘软件消抖流程图 2l 图3,9传感器信号检测识别电路 22 图3．10LIVIDl8200引脚功能 ¨．。 23 图3．1I单片机控制信号输出光电隔离 ．23 图3．12直流电机驱动电路．． 4 4 4 4 4 4 4 5 5 5 5 5 图图图图图图图