摘要
如何保证机器人在两个轮子的支撑下一直保持直立,是研究轮式机器人实现站立的重点。以飞思卡尔公司生产的MC9S12XS128系列芯片为整个机器人直立系统信息处理和控制的核心,通过直立传感器中加速度计MMA7361L和陀螺仪ENC-03的检测,将两者的输出信号相互融合,计算出模型的倾斜角度,再利用PID算法得出相应的控制信号,输出给电机驱动,控制轮子的转动方向,从而达到修正角度的目的,实现机器人的直立控制。
In wheeled robot standing research, the key problem is how to ensure the robot keep standing in the support of only two wheels. The vertical control of a robot is based on Freescale＇ s MC9S12XS128 series production for the core of information processing and control of the entire system. By the detection of the accelerometer MMA7361L and gyroscope ENC-03 of the vertical sensor, amalgamate their output signals and calculate the angle of inclination of the model, and then get the appropriate control signal by using PID control algorithm. Send the control signal to motor-driven module to control the driection of rotation of the wheels to achieve the purpose of angle correction, and make the wheeled robot stand.
出处
《信息技术》
2013年第12期141-144,共4页
Information Technology
