摘要
为了简化仿人机器人控制系统结构,增强机器人系统的功能。采用PC/104嵌入式系统作为仿人机器的主控计算机,完成图像处理,做出控制决策,计算并生成运动序列。关节控制器选用C8051F310单片机,采用串口与主控计算机通信,接收来自主控计算机的运动序列指令,产生PWM波,经过放大电路,实现21路电机的控制。经过实验,得到图像采集分析结果和仿人机器人稳态步行。实验表明,这种控制系统能够实现仿人机器人的控制。
In order to simplify system structure and strengthen the function of humanoid robot system,embedded PC/104 system is applied as main computer of humanoid robot, which is used to accomplish image processing, make a control decision, calculate and generate movement sequence. The joint controller chooses C8051F310, receives the movement sequence instruction came from main computer,generats PWM wave, the control of 21 load electric circuit is realized by enlarge electric circuit. An analytical result of image collection,and humanoid robot steady on foot are gained by experiment. Results show that this kind of control system can carry out the control of humanoid robot.
出处
《现代电子技术》
2009年第2期145-147,共3页
Modern Electronics Technique
