摘要
仿人机器人是一种集机械、电子、控制、通信、计算机等多种技术于一体的智能系统,而控制技术是它的核心。本文设计了一款基于STM32F103芯片的小型仿人机器人控制系统。该控制系统通过输出10路PWM波实现机器人的关节运动控制,通过红外测距传感器实现机器人避障,通过姿态传感器MPU6050实现机器人的姿态测量。经过试验验证,在该系统的控制下,10自由度小型仿人机器人能够稳定行走并完成各种预期动作,且能够实现自主避障功能。
The humanoid robot is an intelligent system, which contains mechanical, electronic, control, communication, computer and other technologies,and the control technology is the core. In the paper, a small humanoid robot control system besed on STM32F103 is designed. The control system achieves joint control by 10-way PWM waves,obstacle avoidance by infrared distance sensors, and pose detection by the posture sensor MPU6050. The experiment results show that the small humanoid robot of 10 degree of freedom can walk stably, accomplish a variety of expected actions and achieve self-avoidance functions under the control system.
出处
《单片机与嵌入式系统应用》
2016年第1期60-63,共4页
Microcontrollers & Embedded Systems
