| 一种履带式移动机器人的控制系统设计 |
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| 引用本文： | 黄守仁,战强,苑承志.一种履带式移动机器人的控制系统设计[J].机电产品开发与创新,2008,21(4):11-13. |
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| 作者姓名： | 黄守仁 战强 苑承志 |
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| 作者单位： | 北京航空航天大学机器人研究所,北京,100083 |
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| 摘 要： | 针对一辆无刷电机驱动的履带式移动机器人BHTR-1,对其包括运动控制系统、信息检测系统、无线遥控系统等各部分在内的控制系统进行了设计。运动控制部分采用以DSP LF2407A为主控芯片、以无刷电机专用芯片MC33035和驱动桥MPM3003为电机驱动控制的方案;信息检测系统采用红外传感器来检测环境障碍信息,并安装无线视频设备用以监控机器人运行环境;无线遥控系统采用摇杆式脉宽比例调节方式来实现对机器人的调速及其他运动控制。
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| 关 键 词： | 履带式移动机器人 DSP LF2407A 运动控制 无线遥控 |
Control System Design of a Tracked Mobile Robot |
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| HUANG Shou-Ren,ZHAN Qiong,YUAN Cheng-Zhi.Control System Design of a Tracked Mobile Robot[J].Development & Innovation of Machinery & Electrical Products,2008,21(4):11-13. |
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| Authors: | HUANG Shou-Ren ZHAN Qiong YUAN Cheng-Zhi |
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| Affiliation: | (Robotics Institute, Beihang University, Beijing 100083, China) |
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| Abstract: | The control system of a tracked mobile robot BHTR-1 driven by brushless DC motor was designed, which includes the motion control system, information detection system and wireless remote control system. The motion control system uses DSP LF2407A as the main processor and uses the brushless motor driving chip MC33035 and driving bridge MPM3003 to drive the blushless motor. The information detection system uses infrared sensors to detect obstacles in the environment and wireless video equipment was installed to monitor the environment. Wireless remote control system uses the rocker-width ratio adjustment method to realize the speed and motion control of the robot. |
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| Keywords: | tracked mobile robot DSP LF2407A motion control wireless remote control |
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