| 基于S3C44BOX和SM5004的足球机器人运动控制系统 |
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| 引用本文： | 田琦,张国良,陈林鹏,刘延飞.基于S3C44BOX和SM5004的足球机器人运动控制系统[J].电子技术应用,2007,33(9):34-37. |
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| 作者姓名： | 田琦 张国良 陈林鹏 刘延飞 |
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| 摘 要： | Robocup中型组的足球机器人控制系统设计。描述了以S3C44BOX为主控芯片,SM5004为驱动芯片的底层运动控制模块的硬件结构,通过分析四轮全向机器人的运动学模型,使用模糊自适应PID控制算法完成对机器人的闭环控制。实践证明,以这种控制器作为ROBOCUP中型组机器人的底层运动控制系统,其速度、位置及控制精度等指标均达到了设计要求。
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| 关 键 词： | Robocup中型组 运动控制 ARM 四轮全向机器人 PID |
The motion control system of the soccer robot based on S3C44BOX and SM5004 |
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| TIAN Qi,ZHANG Guo Liang,CHEN Lin Peng,LIU Yan Fei.The motion control system of the soccer robot based on S3C44BOX and SM5004[J].Application of Electronic Technique,2007,33(9):34-37. |
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| Authors: | TIAN Qi ZHANG Guo Liang CHEN Lin Peng LIU Yan Fei |
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| Abstract: | Introduced the design of soccer robot motion control system, described a bottom motion controller framed by ARM embedded chip S3C44BOX used as main chip, SM5004 used as driving chip. Analyzed the kinematics model of a four wheeled omni-directional robot, and used a fuzzy self-adaption PID control arithmetic to accomplish closed loop control. The result showed that as the bottom motion controller of Robocup middle-size robot the controller achieved the request of velocity and locational precision. |
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| Keywords: | Robocup middle-sides motion control ARM Four wheeled omni-directional robots PID |
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