机械制造与自动化
機械製造與自動化
궤계제조여자동화
JIANGSU MACHINE BUILDING & AUTOMATION
2014年
5期
150-153,161
,共5页
STM32F103VET6%六足机器人%无线遥控%控制系统
STM32F103VET6%六足機器人%無線遙控%控製繫統
STM32F103VET6%륙족궤기인%무선요공%공제계통
STM32F103VET6%hexaped robot%wireless remoter%control system
基于仿生原理，以STM32F103VET6为核心的控制芯片构建硬件控制系统。利用无线遥控器使芯片的通用定时器产生18路PWM波控制机器人各个关节的运动，同时通过串口能在上位机实时显示GPS、超声波测距传感器、加速度计、陀螺仪的输出数据，该机器人能严格按三角步态行走，实现诸如直线、转弯、躲避障碍物等行走功能。实验结果表明，六足机器人的18个关节运动平稳，对复杂运动步态的控制精确，实现了在地面的稳定运动。
基于倣生原理，以STM32F103VET6為覈心的控製芯片構建硬件控製繫統。利用無線遙控器使芯片的通用定時器產生18路PWM波控製機器人各箇關節的運動，同時通過串口能在上位機實時顯示GPS、超聲波測距傳感器、加速度計、陀螺儀的輸齣數據，該機器人能嚴格按三角步態行走，實現諸如直線、轉彎、躲避障礙物等行走功能。實驗結果錶明，六足機器人的18箇關節運動平穩，對複雜運動步態的控製精確，實現瞭在地麵的穩定運動。
기우방생원리，이STM32F103VET6위핵심적공제심편구건경건공제계통。이용무선요공기사심편적통용정시기산생18로PWM파공제궤기인각개관절적운동，동시통과천구능재상위궤실시현시GPS、초성파측거전감기、가속도계、타라의적수출수거，해궤기인능엄격안삼각보태행주，실현제여직선、전만、타피장애물등행주공능。실험결과표명，륙족궤기인적18개관절운동평은，대복잡운동보태적공제정학，실현료재지면적은정운동。
this paper describes the fabrication of a hexapod bionic robot which is control ed by STM32F103VET6 microprocessor and walks based on bionic principle. In its control system based on wireless remoter, 18-channel PWM wave generated by the timers STM32F103VE76, is used to control robot’ s legs, and the USART of STM32F103VET6 is used to display the output data of GPS, ul-trasonic sensor, accelerometer, gyroscope.This robot is provided with some abilities, such as linear walking, turning, avoiding barri-ers walking etc. The experiments show that free motion control of 18 joints is smooth, the smarter and smal er control system can be used to control complex walking movement precisely and its ground walking objective is atlained..
