基于ZigBee的无线遥控小车的设计与应用

论文对无线遥控移动机器人运动控制的总体方案及其基本工作原理进行了分析,设计了一种能满足无线遥控移动机器人运动要求的电气控制系统,设计制作了无线遥控移动机器人机械部分以及控制系统软、硬件,对AT89C51单片机、Zig Bee无线遥控器件和L298N电机驱动芯片的应用进行了研究,探讨了无线遥控发射机、接收机的工作原理和新型H桥电路对直流电机正反转的电气控制,对无线遥控移动机器人系统硬件设计的过程和软件设计的具体实现进行了详细介绍。制作的无线遥控机器人在功能上实了对移动机器人前进、后退、左转弯、右转弯等运动方式的无线控制,具有制作成本低,稳定性和灵活度高。     

基于无线遥控与视觉跟踪的焊接控制系统

为解决焊接工程现场有线示教器操作不便、传统模板匹配方法受电弧与飞溅干扰而导致跟踪稳定性差等问题,设计了一种基于无线遥控与视觉跟踪的焊接控制系统.首先,设计了包含视觉单元、控制单元和执行单元的嵌入式PC无线控制系统,实现图像采集处理和焊缝跟踪偏移信息计算,并控制焊机机器人执行相应的动作.然后,采用了粒子滤波跟踪算法进行焊...     

橄榄球机器人的抓取及发射控制系统

针对橄榄球运动员平时训练,设计一种控制橄榄球机器人自动抓取并发射的控制系统。该系统可以控制机器人自动抓取指定位置摆放的橄榄球,模拟平时训练发射橄榄球等行为。利用微处理器控制系统、无线系统、控制电路、驱动电路、动力系统、机械结构共同组成机器人控制系统,并使用触摸液晶显示实现人机交互;无线系统以无线串口模块为基础,以单片机作为微处理器,通过控制电路和驱动电路控制动力系统驱使机器人完成抓球和发射的动作。最终结果可以利用液晶触摸屏幕的人机交互界面,通过无线通信模块远程操控橄榄球机器人抓取指定位置橄榄球然后完成发射动作。     

基于云计算机器人WiFi控制链路研究

依据目前机器人的发展现状,结合云计算、WiFi技术,提出了网络机器人的设计理念,即基于WiFi的无线局域网机器人控制系统,使之能半脱离主控端,自主完成一些简单动作。通过TCP/IP协议中的套接字编程,使上位机能对机器人进行简单控制指令的遥控操作,实现人监控下的移动机器人半自主运动。该设计将机器人的智能化、模块化、网络化等特点进行了集中体现,极大地简化了传统机器人的设计,降低成本,并对未来机器人的发展方向提出了新思路。     

基于PWM信号遥控机器人的设计与制作

本文介绍一款遥控机器人,以ATmega16单片机为核心控制器,用航模遥控器驱动MG945舵机工作,控制机器人的运动。该机器人具有可无线遥控、垂直升降、自主语音讲解等功能。本系统采用模块化设计思想,软件用C语言编写。     

轮式移动机器人运动控制系统研究与设计

基于差速转向原理,设计了一套轮式移动机器人的运动控制系统。首先选择小车的模型(运动模型),进行运动学和力学分析,得出左右两侧车轮的速度约束,然后设计机器人的运动控制模块和无线遥控模块。运动控制模块可分为控制电路和驱动电路两大模块,控制电路以DSP作为核心控制部件,捕获编码器的信息并产生PWM信号;驱动电路以直流电机H桥集成芯片为驱动部件,接收来自DSP的控制信号。无线遥控模块选用AVR单片机作为控制核心,实现A/D转换和指令发送等功能。实验证明,该系统不仅能实现较长距离的无线控制,传输可靠,而且速度控制准确,车体运动灵活。     

无线移动机器人及运动监测系统的设计

介绍了一种无线两轮驱动机器人小车和软硬件实现方法,计算机通过串口无线控制机器人小车和接收机器小车反馈回来的运动状态信息。在对几种近距无线通信协议进行分析和比较的基础上,选用Zigbee协议栈技术作为基本的通信协议,并基于该协议实现遥控机器人小车和监测小车的运动状态,通过监测机器人的运动状态来提高控制的准确度。CC2430无线单片机负责无线通信和组网,MSP430单片机作为主控制芯片,MSP430通过产生两路PWM波来控制两路直流电机,实现机器人根据计算机发出的各种命令执行不同的动作。该机器人已用于危险环境监测研究当中。     

DOTA对抗赛机器人设计和定位实现

文章主要通过对2014年华北五省机器人大赛中机器人DOTA对抗赛中无线遥控对抗机器人进行分析和研究,介绍了两种红外无线遥控进攻机器人和一种全自主防守机器人通讯和击打装置的设计和实现,使其能根据操纵者要求完成一系列攻击、阻碍对方等复杂任务。分别采用了80C51单片机和深圳天地飞科技开发有限公司的WFT06X-A 2.4GHZ六通道比例遥控装置控制机器人,出色地完成了对机器人的控制并能将其性能最优化,实现预期目标。     

一种双模智能捡球机器人

提出一种双模智能减球机器人,可以在自动捡球模式和遥控捡球模式下工作。在遥控捡球模式下,通过控制终端的无线手柄根据实时视频控制捡球机器人的行驶状态及捡球行为;在自动捡球模式下捡球机器人自动探测障碍物、方向和方位等数据,经多信息融合算法来控制捡球机器人的行进及自动捡球行为。机器人周围的多个传感器能有效地识别包括墙壁和人在内的各类障碍物。通过自身摄像头可实现远程收集场图像地信息并实时传输到Android智能手机和笔记本电脑,以达到实时监控现场并辅助操控人员控制机器人动作的目的。     

基于Kinect的机器人控制系统

设计一款可以通过人体动作对机器人进行控制的机器人控制系统。该系统由主机和从机两部分组成,通过Kinect体感传感器采集人体动作信息,在主机中进行图像处理解析出相应的人体动作,然后通过无线传输单元向机器人发送相应的控制指令,控制机器人做出响应,完成相应的一套动作或对人体动作进行实时模仿。制作的机器人样机运行良好,能够根据人体左右手的动作和语音命令,做出正确的响应。     

A generalised solution for generating stepper motor speed profiles in real time

We present a new low-complexity algorithm for controlling a stepper motor to rotate with constant acceleration or deceleration. It can be operated on a basic low-end microcontroller and does not require any data tables. Also, it does not have the limitation of the motor having to start from standstill. The algorithm was tested using a small robot programmed to move and change acceleration ‘on the run’. The theoretical foundations for further improving the timing accuracy of the algorithm were also derived.     

Comparison of model-free and model-based methods for time optimal hit control of a badminton robot

In this research, time optimal control is considered for the hit motion of a badminton robot during a serve operation. Even though the robot always starts at rest in a given position, it has to move to a target position where the target velocity is not zero, as the robot has to hit the shuttle at that point. The goal is to reach this target state as quickly as possible, yet without violating the limitations of the actuator. To find controllers satisfying these requirements, both model-based and model-free controllers have been developed, with the model-free controllers employing a Natural Actor-Critic (NAC) reinforcement learning algorithm. The model-based controllers can immediately achieve the desired motions relying on prior model information, while the model-free methods are shown to yield the desired robot motions after about 200 trials. However, in order to achieve this result, a good choice of the reward function is essential. To illustrate this choice and validate the resulting controller, a simulation study is presented in which the model-based results are compared to those obtained with two different reward functions.     

Programming by touch: the different way of human-robot interaction

Mobile service robots will share their workspaces, e.g., offices, hospitals, or households, with humans. Thus, a direct contact between man and machine is inevitable. Robots equipped with appropriate sensors can sense the touch. In this paper, we present how an unskilled user can intuitively teach the lightweight robot at the German Aerospace Center (DLR), We/spl szlig/ling, Germany, just by touching the arm. Programming by "touch" is very intuitive as you take the robot by the hand and demonstrate the movements. This feature can also be used to interact with the service robot while executing a task. Therefore, if our seven-degrees-of-freedom robot arm senses a touch, it will react by an evasive motion of the touched links while keeping the orientation of the tool center point.     

Control of robotic object pivoting based on tactile sensing

Robotic manipulation of objects using the sole tactile feedback is a challenge. If the contact between the robot end effector and the manipulated object is distributed, the robot can exchange both friction forces and torques with it. The friction highly influences the motion of the object. By controlling the friction it is possible to perform complex manipulation tasks, such as moving the object with respect to the end effector by executing a controlled sliding motion. If the motion is a rotation with respect to the end effector, the corresponding maneuver is called pivoting. Control of the pivoting motion is considerably difficult, especially without any visual feedback. This paper proposes a novel method to regulate the object angular position, by means of a pivoting maneuver, through a parallel gripper endowed with force/tactile sensors. The strategy is based on a novel nonlinear observer that estimates the sliding velocity from force/torque measurements and a model of the sliding dynamics. We exploit the Limit Surface concept and the LuGre friction model to build a dynamic model of a planar slider. We show, through experimental results, that simple parallel grippers are able to execute such maneuvers that correspond to adding a virtual joint between the fingers, thus enlarging the robot workspace.     

数字指南针的数学建模应用研究

机器人的应用离不开传感器,传感器应用成为青少年机器人教育中的一个重要内容.其中,电子指南针的应用非常广泛,但是电子指南针的应用有一定难度,使得广大青少年在使用过程中束手无策.我经过研究发现主要存在以下问题:机器人在需要转向时的方向问题——逆时针转动还是顺时针转动？机器人在转动过程中的速度如何,速度快的话则在目标角度有可能由于机器人控制器来不及处理角度数据而失败(转过头),速度慢的话则大大降低了机器人的运行效率.鉴于以上两个问题,本文就通过建立数学模型,把数字指南针的应用和高中阶段的数学三角函数结合起来,巧妙的解决以上两个问题.     

Internet based crossover robot remote control competition among Asian countries

We introduce an internet based crossover robot remote control competition project that is an international cooperative program based in Japan, China, Thailand, and Taiwan. This competition is an important component of a long-term higher education reform project aiming to develop a practice based innovative educational methodology jointly promoted by the Ministry of Education, Culture, Sports, Science & Technology of Japan and the University of Electro-Communications. The competition project includes two subjects: the competition itself and the communication and cooperation between students in two countries. The basic mode of the competition is a locally controlled robot and a remotely controlled robot cooperate with each other to complete some tasks. As a unique feature of the project, the student–student communication and cooperation are increased through a specially designed team organization structure that each team consists of two groups from different universities in different countries and the team members are required to cooperate through the internet to complete the competition. The competition has been successfully held four times and the results show it greatly benefits the students, and is expected to promote the development of the practice based educational methodology in the near future.     

管道微机器人中压电执行器的研究

微执行器作为微机械系统的核心单元,一直是微机械发展关键。文章介绍了一种应用于管道微机器人的足式压电执行器。在交变电压作用下,该压电执行器将压电体的弯曲振动转化成其弹性足沿管壁的移动,从而实现执行器的运动。在分析其工作原理的基础上,研制了压电微执行器的驱动电源,并进行了简单的实验研究。研究表明该执行器具有结构简单,易于微型化,响应快,驱动方便等特点。     

基于ARM平台的排障机器人控制系统设计

在吸收和改进其他移动机器人平台的基础上,提出了一种能在恶劣环境下排除障碍物的移动机器人方案。本排障机器人使用ARM处理器作为系统的中央处理单元,信息融合技术分别处理超声波传感器和CCD摄像机,将采集到的数据信息还原成作业信息。在实验室环境下能使其按照预定的路线运动,实现躲避障碍物的功能。     

步进电机加减速控制器的设计

步进电机易于控制、快速响应性好、并可在很宽的范围内进行平滑调速,是数控机床、打印机、绘图仪、机器人控制等自动控制系统中广泛应用的执行元件。步进电机的起动频率特性使步进电机启动时不能直接达到运行频率,而要有一个启动过程,即从一个低的转速逐渐升速到运行转速。停止时运行频率不能立即降为零,而要有一个高速逐渐降速到零的过程。