摘要
介绍了一种应用于九自由度全方位步行机的网络形式的单片机闭环自动控制系统。该系统的控制装置采用ＭＣＳ－ ５１ 系列单片机，伺服装置采用自带齿轮减速器的直流伺服电机，传感器采用位置传感器－霍耳开关和接触传感器－ 微动开关。该系统层次清晰，可扩展性强，已成功用于自行研制的步行机样机。
A kind of closed link auto control system with a network form is introduced, which was based on single chip microprocessor and used in the nine freedom degree omnidirectional walking mechanism. Its control devices were MCS-51 series of single chip microprocessor. Its servo devices were direction current servomotors with gear deceleration devices. Its position sensors were hall switches and its contract sensors were jiggle switches. The arrangement of the control system was clear and the expandability was good. It has been successfully used in a model walking mechanism with nine freedom degrees, which has been researched by us.
出处
《洛阳工学院学报》
1999年第3期50-52,共3页
Journal of Luoyang Institute of Technology
基金
河南省杰出青年基金
机械工业部教育司科技基金
关键词
机器人
网络
控制
微处理机
直流电机
伺服电机
Robots
Electric netwoks
Control
Microprocessors
D.C.electric machines
