共查询到19条相似文献,搜索用时 206 毫秒
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无线通讯系统是移动机器人的一个重要组成部分,在机器人自主能力有限的情况下,借助上位机与机器人进行无线通信是控制机器人的一种可行方案。文中以轮式移动机器人作为控制平台,利用nRF905无线射频收发模块,实现了移动机器人的无线通讯系统。文中详细阐述了机器人无线通信系统的硬件及软件设计,该系统具有成本低、实时性强、通信可靠等特点。 相似文献
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文章基于机器人大赛阵地攻防赛项的移动机器人任务场景进行底盘结构设计与控制系统设计。分析机器人移动需求选择全向轮作为移动执行机构,设计了一种全向差动驱动结构,可实现移动机器人原地全向移动和转向。针对巡线、抓取、射击等功能需求设计几种不同的底盘结构。根据移动机器人的运动方式进行驱动电机选型,实现基于NovePi单片机控制主板的控制系统设计。设计的移动机器人底盘与控制系统可行且在比赛中取得较好成绩。 相似文献
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基于多DSP的六自由度机器人伺服控制系统研究 总被引:3,自引:0,他引:3
针对Motoman-sv3x型工业机器人的封闭式控制系统,本文提出了一种基于多DSP的开放式六自由度机器人伺服控制系统.该系统实时性好,运算速度快,能够实现复杂的机械臂动作控制. 相似文献
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基于LCS的多机器人路径规划控制体系结构 总被引:1,自引:0,他引:1
提出了一种基于学习分类器的多机器人混合分层体系结构.体系协作规划层中的人工势场栅格法、协调规划层的学习分类器广播操作及行为控制层的多机器人DSP控制系统,易于实现多机器人间的通信联络及系统的扩充,提高了整个多机器人系统的实用性、实时性和可靠性. 相似文献
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Designing robust, modular and fast mobile robots, operating in high dynamic environments is a challenging task. This includes design of the mechanics and the control system of the robot. This paper presents the modular hardware design of a mobile soccer robot platform, including the mechanics, electronic system and the low-level distributed control architecture of the robot. The basic idea behind this paper is not to introduce a new distributed control architecture, both at low and high levels of control, but to focus on a novel approach to manage the distributed control system of a single robot, consisting of a number of microcontroller based modules connected together through a data bus. 相似文献
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In this paper, a hybrid intelligent method including fuzzy inference and neural network is presented for real-time self-reaction of a mobile robot in unknown environments. A neural network with fuzzy inference (fuzzy neural network, FNN) presented can effectively improve the learning speed of the neural network. The method can be used to control a mobile robot based on the present motion situations of the robot in real-time; these situations include the distances in different directions between the obstacles and the robot provided by ultrasonic sensors, the target orientation sensed by a simple optical range-finder and the movement direction of the robot. Simulation results showed that the above method can quickly map the fuzzy relationship between the inputs and the output of the control system of the mobile robot. 相似文献
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基于DSP—TMS320C31的轮式移动机器人控制系统设计 总被引:3,自引:0,他引:3
介绍了移动机器人的本体结构和TMS320C31的性能特点,并设计了以TMS320C31为核心的移动机器人的控制系统,包括硬件结构,左右轮控制以及伺服驱动系统,该控制系统可以方便地实现移动机器人所特有的高级控制算法(例如点镇定控制等),具有采样周期短,控制精度高,系统可靠性好等优点。最后给出了DSP软件编程的方法。 相似文献
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文章对无线传感网络在机器人设计中的应用进行了研究,提出了一种基于Ad hoc网络的分布式无线令牌环协议的机器人通信系统实现方案,分析了其在机器人通信系统应用中的可行性.文中给出了基于无线传感网络的机器人通信系统的软硬件设计方案,并对其在移动机器人通信系统中的应用问题进行了探讨,最终提出了无线传感器网络应用于移动机器人通信系统的实现方法. 相似文献
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温湿度、光照强度和二氧化碳浓度是影响温室大棚作物生长的三大要素,为实时监控这三种关键要素以及大棚作物现场状况,提高大棚作物产量,提出一种基于web的温室大棚远程监测系统设计方案。介绍了系统总体设计方案及主要硬件,在基于ARM的嵌入式linux系统上移植开源软件BOA和Mjpg-streamer搭建web服务器和视频服务器、移植SQLite构建数据库并详细阐述了它们的移植过程。在此基础上设计CGI网关程序,通过接入Internet的任意一台远程PC机或智能手机的浏览器可实时监控棚内环境状况并发送控制命令,真正实现温室作物种植网络化管理。 相似文献
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T. Shibata Y. Matsumoto T. Kuwahara M. Inaba H. Inoue 《Mechatronics, IEEE/ASME Transactions on》1996,1(3):230-236
This paper presents a mobile robotic system for human assistance in navigation-the robot navigates by receiving visual instructions from a human being and is able to replicate them autonomously. We describe three generic components defined as the HOST, the VISION, and the CONTROL components as well as their integration in our teachable mobile robot. These components are connected to each other via a transputer serial link, namely they are loosely coupled, they work in parallel and are asynchronous with each other. Each component is described with a peculiar feature of extensibility. Especially in the VISION component, there are two major features. The first one is a correlator which each vision board possesses. The correlator does block-matching between the template and the grabbed images in real-time. The other is the PIM library which manages the visual tasks over limited parallel visual resources of the mobile robot. These features of our design enable the system to be real-time and allow for efficient and extensible software development. In order to show the feasibility of our system design, we present a preliminary experiment of the route teaching on our mobile robot. 相似文献
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本文介绍了基于MULTIBUS开发的直角坐标装配机器人控制系统的设计思想。着重讲述了基于iRMXⅢ实时多任务操作系统的软件结构以及机器人运动的速度规化和轨迹插补。 相似文献