摘要
以STM32F103处理器作为机械臂系统控制核心,结合MPU9250、肌电信号传感器、四自由度机械臂等元件,基于FreeRTOS操作系统进行了系统硬件和软件的设计,完成了包括信号收集、数据处理、机械臂控制、实时显示等任务,实现了机械臂实时模拟人体关节动作和辅助人体长时间携带重物的功能。该系统具有原理清晰、操作方便、时效性强等优点,控制方式更符合人的行为习惯,具有较高的实用价值。
In the paper,the STM32F103 is used as the control core of the manipulator system.Combined with MPU9250,EMG signal sensor and four-degree-of-freedom mechanical arms,based on FreeRTOS operating system,the hardware and software of the system are designed.The tasks are achieved including signal collection,data processing,mechanical arms control and real-time display,and the system realizes the function of real-time simulation of human joint motion and assisting human body to carry heavy objects for a long time.The system has the advantages of clear principle,convenient operation and high time-effect,and the control mode is more accord with human behavior habits,thus it has high practical value.
作者
刘海洋
李一波
Liu Haiyang;Li Yibo(College of Innovation,Shenyang Aerospace University,Shenyang 110136,China;College of Automation,Shenyang Aerospace University)
出处
《单片机与嵌入式系统应用》
2019年第8期65-67,共3页
Microcontrollers & Embedded Systems
基金
大学生创新创业训练计划项目(项目编号:201810143061)
