【摘要】 对微型足球机器人低层控制系统进行了研究,给出了一种以87C196KC为核心辅以LM629运动控制器构成的双闭环微型足球机器人低层控制系统.由于采用了集成运动控制芯片,不仅简化了系统软硬件设计,提高了系统可靠性,减轻了设计工作量,而且显著提高了系统性能,反应快,控制精度高,伺服刚度大,还具有一定的自适应能力.堵转等问题也得到了较好的解决.该系统不仅可满足微型机器人控制需要,适当增加功能后还可方便地改造成Robocup小型足球机器人低层控制系统.更多还原

【Abstract】 With the help of the motion controller it not only simplifies the design of the hardware and software of the control system but also enhances considerably its reliability and performance. Experiments show that the new micro soccer robot controller features a quick response, high control precision and high servo rigidity. It has also a good selfadaptability. The stall problem of the motor is also solved effectively.更多还原