CAJ | 학술논문

基于煤矿搜救用6足爬行机器人提出了一种多舵机并联的控制方法，对每个舵机做到单一控制。为了方便辨识舵机角度，在存取舵机角度时提出了一种舵机角度的表示方法。选取AT90S8515和74HC595组成硬件电路，为单片机节省大量I/O口。程序设计上以24路PWM波输出为例，最后给出了仿真结果。
기우매광수구용6족파행궤기인제출료일충다타궤병련적공제방법，대매개타궤주도단일공제。위료방편변식타궤각도，재존취타궤각도시제출료일충타궤각도적표시방법。선취AT90S8515화74HC595조성경건전로，위단편궤절성대량I/O구。정서설계상이24로PWM파수출위례，최후급출료방진결과。
This article puts forward a parallel control method of multiple servo based on the mine search and rescue crawling robot with 6 foot, which can realize single control for each servo. In order to identify servo angle conveniently, a representing method of the servo angle is proposed when access the servo angle. Hardware circuit is composed of AT90S8515 and 74HC595, which can save a lot of ports for SCM. The 24 road PWM wave is as an example in programming and the simulation results are given in the last.