摘要
介绍了一种基于32位ARM处理器LPC2212和实时操作系统μc/osⅡ的教学机器人控制系统的设计过程。重点介绍了以LPC2212为核心的控制系统组成,基于LM629的位置闭环单元,基于LMD18200的功率放大单元和基于实时多任务操作系统μc/osⅡ的软件设计策略,并给出了机器人运动实验的结果。该系统适合在非结构动态环境中进行分布式多AGNET(智能体)、多机器人的协作、移动机器人路径规划与避碰、足球机器人比赛等的学习与研究。
A teaching robot control system based on ARM processor and a rcal time operating system μ/osⅡ are introduced. This system includes a core controller based on LPC2212 , a position loop based on LM629, an amplifier based on LMD18200, and software strategy based on μ/osⅡ ,and so on. The experiment results which proved the feasibility were presented at the end of this paper. The system is suitable to study the distributed muti-agent, the cooperation and harmony of muti-robot,path plan and obstacle avoidance of mobile robot in none-configuration dynamic circumstance , and suitable to football robot too.
出处
《电子机械工程》
2006年第5期53-56,61,共5页
Electro-Mechanical Engineering
基金
济南市留学人员创业基金(编号:200403)
