【摘要】 根据机器人控制要求和设计思想,对基于16位单片机最小系统的机器人控制技术进行了研究,分析了行走机构的动力学模型以及电机功率有限和摩擦系数有限对机器人运动的影响,介绍了行走机构的三种控制方法,设计了控制主板的接口电路,结果表明该系统稳定可靠,基本达到预定要求。更多还原

【Abstract】 According to robot control demand and design thought,this paper study to robot control technology based on 16 bit single-chip minimum system,and analyses tread organization dynamics model and friction coefficients limited effect to robot motion as well as electric motor power is limited,and introduces three kind of control methods of tread organization,and designs Interface circuit of main board.The Game result indicates that system stabilizing reliably,reaches the request basically.更多还原