摘要
基于仿生原理,以STM32F103VET6为核心的控制芯片构建硬件控制系统。利用无线遥控器使芯片的通用定时器产生18路PWM波控制机器人各个关节的运动,同时通过串口能在上位机实时显示GPS、超声波测距传感器、加速度计、陀螺仪的输出数据,该机器人能严格按三角步态行走,实现诸如直线、转弯、躲避障碍物等行走功能。实验结果表明,六足机器人的18个关节运动平稳,对复杂运动步态的控制精确,实现了在地面的稳定运动。
this paper describes the fabrication of a hexapod bionic robot which is controlled by STM32F103VET6 microprocessor and walks based on bionic principle. In its control system based on wireless remoter, IS-channel PWM wave generated by the timers STM32F103VE76, is used to control robot＇ s legs,and the USART of STM32F103VET6 is used to display the output data of GPS, ul- trasonic sensor,accelerometer,gyroscope.This robot is provided with some abilities, such as linear walking, turning, avoiding barri- ers walking etc. The experiments show that free motion control of 18 joints is smooth, the smarter and smaller control system can be used to control complex walking movement precisely and its ground walking objective is atlained..
出处
《机械制造与自动化》
2014年第5期150-153,161,共5页
Machine Building & Automation
