设计简介
两足步行机器人不仅在教学、比赛和娱乐等方面应用广泛，并且也可以作为两足步行研究的平台。本文在“KONDO”两足步行机器人的机械结构的基础上，设计了基于AVR处理器的两足步行机器人控制系统，包括硬软件设计及其实现；设计了两足步行机器人的步行模式，实现了在平面上的稳定步行。在硬件电路的处理器中，移植了u C/OS-II操作系统，实现了两足步行机器人控制系统的各项功能，建立了完整的两足步行机器人控制系统软件框架；改进了通常的多路PWM信号产生方法，使控制信号的精度达到了lus以上，解决了由于中断嵌套影响控制信号精度，从而引发机器人抖动的问题；并对机器人进行了关节调试。
关键词 机器人 处理器 操作系统
Abstract
The Biped walking desktop-robot is not only applied widely in teaching, competitions and entertainments, but also treated as a research tool of biped walking. In this thesis, a control system for biped walking desktop-robot is designed, which is based on AVR, and works well in the mechanism of the KONDO biped walking desktop-robot. A walking astern for the biped robot is presented, and the robot can walk stably on the flat.
The open-code operating system, uC/OS-II is explanted to the processor of the circuit. Under the operating system, several tasks and interrupt service routines are resigned to accomplish the functions of the control system for the biped working boot. The frame of software is completed, which is for the control system for biped asking desktop-robot. A improved method of producing multiple PWM signals is resented, and the precision of the control signal can be improved to 111 s, and the problem that the robot shakes because of the interrupt-nesting is solved. A test to the articulations of the robot is done.
Keywords Robot Processor Control System
目 录
1 绪论…………………………………………………………………………………1
1.1 课题的研究背景和意义…………………………………………………………1
1.2 国内外研究现状…………………………………………………………………2
1.3 本文的主要工作…………………………………………………………………4
1.4 本文组织结构……………………………………………………………………5
2 两足步行机器人控制系统硬件设计与实现………………………………………6
2.1 硬件系统的基本要求……………………………………………………………6
2.2 硬件系统设计的技术路线和总体方案…………………………………………7
2.3 舵机控制器的使用方法…………………………………………………………13
3 两足步行机器人控制系统软件设计………………………………………………15
3.1 软件系统的基本要求……………………………………………………………15
3.2 软件设计的技术路线与总体方案………………………………………………16
3.3 伺服电机控制软件操作方法……………………………………………………17
3.4 微型伺服电机（舵机）的选择………………………………………………20
4 两足步行机器人步行模式的建立…………………………………………………22
4.1 本章任务…………………………………………………………………………22
4.2 静态步行模式设计与实现………………………………………………………23
4.3 姿态运动的软件实现……………………………………………………………24
结束语……………………………………………………………………………………26
致谢………………………………………………………………………………………27
参考文献…………………………………………………………………………………28
关键词 机器人 处理器 操作系统
Abstract
The Biped walking desktop-robot is not only applied widely in teaching, competitions and entertainments, but also treated as a research tool of biped walking. In this thesis, a control system for biped walking desktop-robot is designed, which is based on AVR, and works well in the mechanism of the KONDO biped walking desktop-robot. A walking astern for the biped robot is presented, and the robot can walk stably on the flat.
The open-code operating system, uC/OS-II is explanted to the processor of the circuit. Under the operating system, several tasks and interrupt service routines are resigned to accomplish the functions of the control system for the biped working boot. The frame of software is completed, which is for the control system for biped asking desktop-robot. A improved method of producing multiple PWM signals is resented, and the precision of the control signal can be improved to 111 s, and the problem that the robot shakes because of the interrupt-nesting is solved. A test to the articulations of the robot is done.
Keywords Robot Processor Control System
目 录
1 绪论…………………………………………………………………………………1
1.1 课题的研究背景和意义…………………………………………………………1
1.2 国内外研究现状…………………………………………………………………2
1.3 本文的主要工作…………………………………………………………………4
1.4 本文组织结构……………………………………………………………………5
2 两足步行机器人控制系统硬件设计与实现………………………………………6
2.1 硬件系统的基本要求……………………………………………………………6
2.2 硬件系统设计的技术路线和总体方案…………………………………………7
2.3 舵机控制器的使用方法…………………………………………………………13
3 两足步行机器人控制系统软件设计………………………………………………15
3.1 软件系统的基本要求……………………………………………………………15
3.2 软件设计的技术路线与总体方案………………………………………………16
3.3 伺服电机控制软件操作方法……………………………………………………17
3.4 微型伺服电机（舵机）的选择………………………………………………20
4 两足步行机器人步行模式的建立…………………………………………………22
4.1 本章任务…………………………………………………………………………22
4.2 静态步行模式设计与实现………………………………………………………23
4.3 姿态运动的软件实现……………………………………………………………24
结束语……………………………………………………………………………………26
致谢………………………………………………………………………………………27
参考文献…………………………………………………………………………………28
