CAJ | 학술논문

针对轮式机器人运动能力的局限性，对远程可视可控的履带式机器人车体进行研究。该系统采用 DSP 为控制核心，铝合金配合伺服电机构成机器臂，车体采用直流电机配合履带的移动方式，VC通过zigbee向机器人发送指令，驱动机器臂和车体完成指定动作。重点研究数据通信，设计了人机交互界面，实现基于PID控制算法的PWM闭环调速控制。实验效果表明，该车体控制系统具有优良的动态响应特性，可实现连续精确调速，稳定性强。
침대륜식궤기인운동능력적국한성，대원정가시가공적리대식궤기인차체진행연구。해계통채용 DSP 위공제핵심，려합금배합사복전궤구성궤기비，차체채용직류전궤배합리대적이동방식，VC통과zigbee향궤기인발송지령，구동궤기비화차체완성지정동작。중점연구수거통신，설계료인궤교호계면，실현기우PID공제산법적PWM폐배조속공제。실험효과표명，해차체공제계통구유우량적동태향응특성，가실현련속정학조속，은정성강。
Aiming at the limitation of the wheeled robot motion ability, study on remote visual controlled crawler robot body. The system USES DSP as the control core, six degrees of freedom robot arm using servo motor and car body adopts dc motor with crawler mobile way, use the handle to the VC PC send control instructions, complete specified action driven robot arm and body. Focuses on data communication, man-machine interface is designed to realize PWM closed-loop speed control. Experimental results show that the car body control system has excellent dynamic response and better precision, which can realize continuous speed control precision, strong stability.