摘要
针对自寻迹移动切割机器人控制为非完整系统控制的特点,构建了机器人运动模型,并分析了其运动规律,设计了一种基于可编程片上系统(SOPC)技术的切割机器人运动控制系统。该系统以EP3C55芯片为控制核心,采用模糊控制策略实现了切割机器人的运动控制。实验结果表明,该控制系统运行平稳,控制响应快,能够满足切割机器人的实时控制的要求,具有实际工程应用价值。
Aiming at the nonholonomic controlling of auto-searching cutting mobile robot with the motion law,the dynamic and kinematic models of mobile robot were established.A motion control system based on system on a programmable chip（SOPC） was designed,EP3C55 core was employed as the kernel of the robot motion controller,the fuzzy control strategy was adopted to control the motion of the cutting mobile robot.The effectiveness of the new design is testified by the experiment,which can meet the requirements of actual cutting engineering.
出处
《机电工程》
CAS
2011年第1期60-62,78,共4页
Journal of Mechanical & Electrical Engineering
基金
浙江省新苗人才计划资助项目(浙师大200928)
关键词
可编程片上系统
自寻迹
切割机器人
运动控制
system on a programmable chip（SOPC）
auto-searching
cutting mobile robot
motion control
