摘要
描述了两轮驱动移动机器人的控制系统,它以控制芯片TMS320F2812为基础,通过对电机的精确控制来实现移动机器人的左转、右转、前进、后退等功能,在电机控制中,完成了对速度和位置的闭环控制,通过对电机的速度和位置的设定,可以实现移动机器人的一些基本的运动功能。DSP通过对电机数据进行处理,得到当前移动机器人的位姿坐标,取其中的位置坐标画出实际轨迹图,通过该图来看移动机器人的运动效果。
A control system for two-wheel drive mobile robot is described in it,which is based on TMS320F2812 chip.The aim is to drive the mobile robot to turn left,righ,forward,rewind and so on by precisely controlling of motor,during which a closed-loop control for motor speed and position have been completed and some basic movements of the mobile robot could be achieved through setting motor speed and position.If you want to obtain current position and orientation coordinates of mobile robot,DSP could help through processing the data of motor from which you may draw an actual trajectory according to position coordinates.And the motion effect of the mobile robot could be seen through the drawing.
出处
《机械设计与制造》
北大核心
2011年第6期157-159,共3页
Machinery Design & Manufacture
基金
机器人技术与系统国家重点实验室自主研究课题(SKLRS200802A02)
