基于路程检测的机器人运动控制研究

机器人比赛赛道日趋复杂,由以往单一的直线、转弯增加了上坡、下坡等难度,鉴于机器人比赛赛道的复杂性,提出一种基于路程检测的控制机器人运动的方法,保证机器人顺利、快速地在各种赛道上行进。采用串口位置控制和光码盘共同进行路程检测方法,通过建立直流伺服电机的数学模型,根据PID算法调整机器人运动姿态,详细计算出不同路段下的机器人速度,给机器人运动轨迹控制提供重要参数。通过实验场地测试,结果表明:采用此方法,机器人能稳定、可靠、快速地在复杂的赛道上行进。

Robot Motion Control Research Based on Distance Detection

The robot competition has become complex in track increasingly, from a single straight line and turning track in the past increased to difficulties as uphill and downhill, and so on. Because of the complexity of the robot race track, the method of controlling the movements of robot was put forward based on distance detection so as to ensure the robot moving on the variety track smoothly and quickly. The serial port position control and optical encoder were adopted to detect distance together. By establishing the mathematical model of the DC servo motor, PID was used to rectify movement gesture of robot. The robot speed was reckoned in detail on different path that provided important parameters for robot motion control. The results show that with using of this method the robot can march on complex circuit stably, reliably and rapidly by the test in the experiment ground.