| 可载人自平衡移动机器人控制系统设计 |
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| 引用本文： | 李京涛,高学山. 可载人自平衡移动机器人控制系统设计[J]. 微计算机信息, 2012, 0(3): 8-9 |
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| 作者姓名： | 李京涛 高学山 |
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| 作者单位： | 中国空间技术研究院;北京理工大学智能机器人研究所 |
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| 摘 要： | 本文提出一种自平衡移动机器人。结合系统的功能要求,构建了遥控自平衡控制模式的机器人运动控制系统,提出了以PC/104工控机+数字I/O卡+电机驱动器为控制模式的嵌入式控制系统,保证了硬件系统具有良好的可扩展性、灵活性、实时性、低功耗的特点;并完成了机器人载人前进、后退,验证了设计方法的有效性。
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| 关 键 词： | 自平衡 移动机器人 控制系统 |
Design of The Control System for a Manned Self-Balance Mobile Robot |
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| LI Jing-tao,GAO Xue-shan. Design of The Control System for a Manned Self-Balance Mobile Robot[J]. Control & Automation, 2012, 0(3): 8-9 |
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| Authors: | LI Jing-tao GAO Xue-shan |
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| Affiliation: | (China Academy of Space Technology,Beijing,100089,China)(Intelligent Robotics Institute,Beijing Institute of Technology,Beijing,100081,China) |
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| Abstract: | In this paper,a self-balance mobile robot is brought forward。 Based on the functional requirements of the system,the self balancing locomotion control system of the robot are established.The embedded control system,composed by PC104,digital I/O card,and motor drivers,is presented,assuring that the hardware system is characterized by great expansibility,flexibility,real-time processing,and low power consumption;Then,The effectiveness of the developed mobile robot is confirmed by the man-carrying forwarding and retreating experiments. |
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| Keywords: | Self-balance Mobile robot The control system |
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