多自由度篮球机器人复杂路径跟踪控制系统设计
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摘要
针对篮球机器人复杂路径识别精度偏低,运行能耗较大等问题,提出基于超声波的多自由度篮球机器人复杂复杂路径跟踪控制系统设计方法;通过MAX232芯片设计控制系统的接口电路,采用低功耗CMOS监控电路芯片MAX706构建监控电路,超声波能够精确提供机器人所遇障碍物距离信息,如有障碍则将接收到的信息进行转换,以电信号的形式反馈给主控板;软件部分利用主控板控制器的程序以及超声波测距程序的设计实现;实验表明,该控制系统有效提高了篮球机器人对障碍物的识别率,减小了系统运行所用能耗。
In order to solve the problem of low complexity,low running energy consumption and so on,the design method of complex complex path tracking control system of multi degree of freedom robot based on ultrasonic is proposed.Through the interface circuit design of the control system of MAX232 chip,the construction of monitoring circuit with low power consumption CMOS monitoring circuit chip MAX706,ultrasonic wave can provide accurate robot with obstacle distance information,such as a barrier will receive the information converted to form electrical signals back to the main control board.The software uses the program of the main board controller and the design of ultrasonic ranging program.The experimental results show that the designed control system can improve the recognition rate of the obstacle and reduce the energy consumption of the system.
In order to solve the problem of low complexity,low running energy consumption and so on,the design method of complex complex path tracking control system of multi degree of freedom robot based on ultrasonic is proposed.Through the interface circuit design of the control system of MAX232 chip,the construction of monitoring circuit with low power consumption CMOS monitoring circuit chip MAX706,ultrasonic wave can provide accurate robot with obstacle distance information,such as a barrier will receive the information converted to form electrical signals back to the main control board.The software uses the program of the main board controller and the design of ultrasonic ranging program.The experimental results show that the designed control system can improve the recognition rate of the obstacle and reduce the energy consumption of the system.
引文
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[10]殷苏民,郑昌俊,徐启祥,等.基于Sysmac自动化平台的Delta机器人控制系统设计[J].机床与液压,2017,45(3):1-5.
[2]陈薇,蒋旭云.关于轮式机器人路径规划控制仿真[J].计算机仿真,2016,33(5):367-371.
[3]郭胜国,邢丹丹.一种改进蚁群算法在机器人路径规划中的应用[J].科技通报,2015,31(12):91-93.
[4]雷霆,张国良,羊帆,等.应用于力矩受限自由漂浮空间机器人的神经网络自适应控制[J].计算机测量与控制,2015,23(4):1168-1171.
[5]余轲,邓本再.基于标准可加性模糊系统的足球机器人守门员的路径规划[J].电子设计工程,2016,24(18):155-158.
[6]王洪泉,师五喜,常绍平,等.基于终端滑模机器人模糊自适应路径跟踪控制[J].计算机工程与应用,2015,51(16):36-41.
[7]陈浩,卢伟,赵贤林,等.基于力反馈的拖拉机驾驶机器人换挡机械手模糊PID自适应控制方法研究[J].南京农业大学学报,2016,39(1):166-174.
[8]陈顺立.农业机器人路径优化及轨迹跟踪研究—基于遗传算法[J].农机化研究,2017,39(8):17-21.
[9]袁铸,申一歌.农业机器人轨迹优化自动控制研究——基于BP神经网络与计算力矩[J].农机化研究,2017,39(6):33-37.
[10]殷苏民,郑昌俊,徐启祥,等.基于Sysmac自动化平台的Delta机器人控制系统设计[J].机床与液压,2017,45(3):1-5.