| 基于LM629的微型足球机器人底层控制系统 |
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| 引用本文： | 赵臣,耿淑琴,尚旭辉. 基于LM629的微型足球机器人底层控制系统[J]. 现代制造工程, 2004, 0(1): 14-16 |
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| 作者姓名： | 赵臣 耿淑琴 尚旭辉 |
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| 作者单位： | 天津大学机械学院机电系,天津300072;天津大学机械学院机电系,天津300072;天津大学机械学院机电系,天津300072 |
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| 基金项目： | 国家“十五”863高技术研究计划课题 (2 0 0 1AA42 2 2 70 )，天津市高校科技发展基金课题 |
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| 摘 要： | 基于LM 62 9M 8运动控制器构成的双闭环微型足球机器人底层控制系统 ,不仅简化系统软、硬件设计 ,提高系统可靠性 ,减轻设计工作量 ,而且提高了系统性能 ,反应快 ,控制精度高 ,伺服刚度大 ,还具有一定的自适应能力。堵转等问题也得到了较好的解决
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| 关 键 词： | 多智能体系统 微型足球机器人 控制系统 控制性能 |
| 文章编号： | 1671-3133(2004)01-0014-03 |
| 修稿时间： | 2003-06-10 |
A control system based on LM629 for micro soccer robot |
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| Zhao Chen,Geng Shuqin,Shang Xuhui. A control system based on LM629 for micro soccer robot[J]. Modern Manufacturing Engineering, 2004, 0(1): 14-16 |
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| Authors: | Zhao Chen Geng Shuqin Shang Xuhui |
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| Abstract: | A micro controller based on 87C196KC and LM629 is presented in the paper With the help of the motion controller it not only simplifies the design of the hardware and software of the control system but also enhances considerably its reliability and performance Experiments show that the new micro soccer robot controller possesses a quick response,high control precision and high servo rigidity It has also a good self adaptability The stall problem of the motor is also solved effectively |
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| Keywords: | Multi agent system Micro soccer robot Control system Control performance |
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