| 基于工控机+DSP的移动机器人控制系统设计 |
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| 引用本文： | 吕勤,徐首鑫. 基于工控机+DSP的移动机器人控制系统设计[J]. 电气传动自动化, 2009, 31(1) |
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| 作者姓名： | 吕勤 徐首鑫 |
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| 作者单位： | 上海东华大学,机械工程学院,上海,201620;上海东华大学,机械工程学院,上海,201620 |
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| 摘 要： | 提出了一种自主越障移动机器人控制系统,该控制系统采用嵌入式工控机+DSP运动控制卡的控制结构,较好地实现了机器人的实时控制和图像采集。介绍了机器人的机械系统结构,基于嵌入式工控机和DSP运动控制卡的开放式控制系统的硬件组成和软件设计,以及基于无线通讯网络的遥操作技术。通过爬斜坡、爬台阶等越障实验,验证了其良好的自主越障能力和环境适应能力。
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| 关 键 词： | 自主越障 移动机器人 嵌入式工控机+DSP运动控制卡 遥操作 |
Design of mobile robot control system based on embedded industrial control computer+DSP |
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| LV Qin,XU Shou-xin. Design of mobile robot control system based on embedded industrial control computer+DSP[J]. Electrical Drive Automation, 2009, 31(1) |
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| Authors: | LV Qin XU Shou-xin |
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| Affiliation: | College of Mechanical Engineering;Donghua University;Shanghai 201620;China |
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| Abstract: | The design of autonomous obstacle negotiating mobile robot control system based on embedded industrial control computer +DSP montion control card is described.Robotic real-time control and image acquisition are realized well.The mechanical structure of robot and the hardware and software design of the open control system based on the embedded industrial control computer +DSP motion control card are presented.The tele-operation technology based on wireless network is also introduced.Its good capability is te... |
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| Keywords: | autonomous obstacle negotiating mobile robot embedded industrial control computer +DSP montion control card tele-operation |
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