用于自由体操机器人的舵机PWM控制技术实现
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摘要
自由体操机器人是比较灵活的一种仿人机器人,具有明显的类人特征,可根据指令程序完成一系列高难度的体操动作。本文讨论的内容是一种用于自由体操机器人的舵机PWM控制技术,它基于优化之后的程序来实现,通过结合定时器和中断程序来确保可以同时、精准地控制每个舵机,进而大幅度地提升自由体操机器人的稳定性和动作的准确性。
The floor exercise robot is a more flexible humanoid robot, which has obvious characteristics of humanoid, it can complete a series of highly difficult gymnastic movements according to the instruction program. The content of this paper is a control technology for the rudder of the floor exercise robot, which is based on the optimized program, it ensures that each rudder can be controlled simultaneously and accurately by combining timer and interrupt program, and then greatly improves the stability and the accuracy of the movement of the floor exercise robot.
The floor exercise robot is a more flexible humanoid robot, which has obvious characteristics of humanoid, it can complete a series of highly difficult gymnastic movements according to the instruction program. The content of this paper is a control technology for the rudder of the floor exercise robot, which is based on the optimized program, it ensures that each rudder can be controlled simultaneously and accurately by combining timer and interrupt program, and then greatly improves the stability and the accuracy of the movement of the floor exercise robot.
引文
[1]俞炘,王文远.仿真机器人发展及其技术探索[J].数字技术与应用,2010(11):5.
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[3]柴稳,徐娅萍,黄伟峰,等.基于单片机的多路舵机平稳驱动方法的设计和实现[J].微特电机,2008,36(12):43-45.
[4]张枭,聂亚子,杜晨林.提高自由体操机器人动作协调性控制方法研究[J].机器人技术与应用,2010(4):32-34.
[5]杨冰,张鼎男,裴锐.基于DSP数字化舵机无线控制系统的设计与实现[J].工业技术创新,2014(5):553-557.
[6]付丽,刘卫国,伊强.单片机控制的多路舵机用PWM波产生方法[J].微特电机,2006,34(2):28-29.
[2]晏刚,周俊.舵机角度检测系统的设计与应用[J].电子世界,2013(16):141-142.
[3]柴稳,徐娅萍,黄伟峰,等.基于单片机的多路舵机平稳驱动方法的设计和实现[J].微特电机,2008,36(12):43-45.
[4]张枭,聂亚子,杜晨林.提高自由体操机器人动作协调性控制方法研究[J].机器人技术与应用,2010(4):32-34.
[5]杨冰,张鼎男,裴锐.基于DSP数字化舵机无线控制系统的设计与实现[J].工业技术创新,2014(5):553-557.
[6]付丽,刘卫国,伊强.单片机控制的多路舵机用PWM波产生方法[J].微特电机,2006,34(2):28-29.