龙岩学院学报
龍巖學院學報
룡암학원학보
Journal of Longyan University
2015年
5期
32-37
,共6页
吴春富%王小龙%蔡小伟%杨元慧
吳春富%王小龍%蔡小偉%楊元慧
오춘부%왕소룡%채소위%양원혜
舵机%伺服驱动%网络化控制%STM32
舵機%伺服驅動%網絡化控製%STM32
타궤%사복구동%망락화공제%STM32
actuator%servo drive%networked control%STM32
设计并实现一个六自由度迎宾机器人手臂动作控制系统。该系统采用舵机实现六自由度伺服驱动,控制系统硬件部分主要包括ARM芯片 STM32、多路舵机PWM驱动电路、通讯模块等;软件上采用嵌入式μC/OS-II来实现舵机驱动与动作的规划。实验结果表明,设计的迎宾机器人手臂具有动作灵活可靠、性能稳定、价格便宜等特点,能够较好地实现迎宾娱乐等功能。
設計併實現一箇六自由度迎賓機器人手臂動作控製繫統。該繫統採用舵機實現六自由度伺服驅動,控製繫統硬件部分主要包括ARM芯片 STM32、多路舵機PWM驅動電路、通訊模塊等;軟件上採用嵌入式μC/OS-II來實現舵機驅動與動作的規劃。實驗結果錶明,設計的迎賓機器人手臂具有動作靈活可靠、性能穩定、價格便宜等特點,能夠較好地實現迎賓娛樂等功能。
설계병실현일개륙자유도영빈궤기인수비동작공제계통。해계통채용타궤실현륙자유도사복구동,공제계통경건부분주요포괄ARM심편 STM32、다로타궤PWM구동전로、통신모괴등;연건상채용감입식μC/OS-II래실현타궤구동여동작적규화。실험결과표명,설계적영빈궤기인수비구유동작령활가고、성능은정、개격편의등특점,능구교호지실현영빈오악등공능。
A 6-DOF arm control system for tour-guide robot is designed and implemented in which electric actuators are adopted to realize 6-DOF servo drive. The hardware mainly consists of STM32 ARM chip, PWM drive circuit for multi-channel servo and communication modules while the software uses embedded μC / OS-II to achieve the servo drive and action planning. The experimental results show that the tour-Guide robot arm so designed features flexibility, reliability and economy, which can better realize the duties as a tour guide robot.