| 基于单片机的六足机器人多路舵机控制系统设计 |
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| 引用本文： | 李杨,任文博,冯晓明,姜庆昌,颜兵兵.基于单片机的六足机器人多路舵机控制系统设计[J].机械工程师,2013(12):90-92. |
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| 作者姓名： | 李杨 任文博 冯晓明 姜庆昌 颜兵兵 |
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| 作者单位： | 佳木斯大学机械工程学院,黑龙江佳木斯154007 |
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| 基金项目： | 黑龙江省研究生创新科研项目（YJSCX2012-360HL）;黑龙江省自然科学基金面上项目（E201254） |
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| 摘 要： | 分析了仿生多足机器人应用特点及其多关节协调控制的功能需求，设计了基于单片机的六足机器人多路舵机控制系统，硬件控制核心采用STC89C52单片机，关节驱动使用高扭矩舵机，并采用32路舵机控制器用于腿部关节的协调控制。通过试验设计，实现了六足机器人一个步态周期内的直线行走、定点转弯的模拟运动。试验结果表明，该系统控制效果良好，动作平稳，且协调性较高，具有一定的参考价值。
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| 关 键 词： | 多足机器人 单片机 舵机控制器 协调控制 |
Control System Design of Multi-channel Servo in Hexapod Robot Based on Single Chip Microcontroller |
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| LI Yang,REN Wen-bo,FENG Xiao-ming,JIANG Qing-chang,YAN Bing-bing.Control System Design of Multi-channel Servo in Hexapod Robot Based on Single Chip Microcontroller[J].Mechanical Engineer,2013(12):90-92. |
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| Authors: | LI Yang REN Wen-bo FENG Xiao-ming JIANG Qing-chang YAN Bing-bing |
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| Affiliation: | (College of Mechanical and Electronic Engineering, Jiamusi University, Jiamusi 154007, China) |
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| Abstract: | Based on the application feature of bionic＇, muhi-legged robot and functional requirements of muhi-joint coordination control, the muhiple servo control system of hexapod robot is designed. STC89C52 single chip microeontroller is used as the hardware control core. The joint drive of hexapod robot is realized by high torque servo, and the coordination control of the leg joints is completed by adopting 32 channels servo controller. Through the experiment the movement of walking straight and turning around is achieved in a gait cycle. Experimental results show IhaI this control system works well and the hexapod rohot has a higher coordination action ability which has a certain reference value for the relevant researches. |
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| Keywords: | muhi-legged robot single chip mieroeontroller servo controller coordinate control |
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