| 基于AT89S52的六足机器人运动控制器的设计 |
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| 引用本文： | 储忠,阮坚实,虞刚明. 基于AT89S52的六足机器人运动控制器的设计[J]. 工矿自动化, 2008, 0(4) |
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| 作者姓名： | 储忠 阮坚实 虞刚明 |
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| 作者单位： | 合肥学院电子信息与电气工程系,安徽,合肥,230601 |
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| 摘 要： | 文章应用AT89S52内部的2个定时器,采用多舵机分时控制方法,设计了可驱动机器人足部12个舵机协调运动的控制器;按照六足机器人典型行走步态,实现了六足机器人按步态规划运动。测试结果验证了该设计方案的正确性和可靠性。
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| 关 键 词： | 六足机器人 运动控制器 舵机 分时控制 步态 AT89S52 |
Design of Hexapod Robot Movement Controller Based on AT89S52 |
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| CHU Zhong,RUAN Jian-shi,YU Gang-ming. Design of Hexapod Robot Movement Controller Based on AT89S52[J]. Industry and Automation, 2008, 0(4) |
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| Authors: | CHU Zhong RUAN Jian-shi YU Gang-ming |
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| Abstract: | Based on 2 inter-timers of AT89S52 and multi-rudder time slicing control method,a(movement) controller was designed,which could drive 12 rudders to coordinately work.According to typical walking gaits of hexapod robot,it was realized that movement of the hexapod robot accords with the gait layout.Testing result verified reliability and correctness of the designed scheme. |
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| Keywords: | hexapod robot movement controller rudder time slicing control gait AT89S52 |
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