教育机器人基础开发平台设计
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摘要
本文旨在设计一个以教学为目的的机器人开发平台。该开发平台由三个子平台构成,即机械平台、硬件平台和软件平台。机械平台中包含了各种机械部件,由它们搭建机器人的躯干、手脚等外围的框架。硬件平台是围绕主控芯片MC9S08GB60展开设计的硬件电路板,其中包含了机器人各种控制机构的硬件电路。主控芯片中驻留了自主开发的用于配合PC方软件平台下载用户程序的监控程序以及控制机器人动作的功能性模块。机器人控制程序由用户根据PC方软件平台提供的开发工具自行“定制开发设计”,并“下载”到硬件平台的MCU中执行。软件平台提供了图形化设计界面和类C界面两种设计方式,用户可以根据自身特点选择相应的程序设计方式。该教育机器人基础开发平台主要针对中小学课外科技活动开发,也可供高校学生进行机器人设计、参加机器人设计竞赛之用。文章阐述了整个系统的设计背景、设计思想、软硬件实现方法,并对其中的技术要点进行深入的分析。
This paper focuses on designing a platform for robot development with educational purpose. The platform is composed of three separate sub-platforms, namely: machinery platform, hardware platform and software platform. The machinery platform includes various machinery parts, which are used to organize robots' peripheral frameworks, including bodies, arms, legs, etc. The hardware platform is a circuit board designed around the host MCU - MC9S08GB60 and contains hardware circuits for kinds of robot-controlling unit. MCU is the kernel of the hardware platform, with kinds of routines residing in it. These routines includes independently-developed monitor program which can be accessed by PC software to download user program to MCU and functional routines used to control the actions of robot. The user can customize their own robot-control program and download to MCU by using the developing tools presented by the software platform. The software platform provides two development styles: GUI -based style and C-similar style. The user could select the appropriate style according to his/her preference. The fundamental platform of robot development for education is primarily used in elhi extracurricular technological activity. At the same time, the platform can be used to design robot and attend various robot competition. This paper exposed the design background, design conception and implement approach of software and hardware. Beside that this paper also provides in-depth analysis on technological main point.
This paper focuses on designing a platform for robot development with educational purpose. The platform is composed of three separate sub-platforms, namely: machinery platform, hardware platform and software platform. The machinery platform includes various machinery parts, which are used to organize robots' peripheral frameworks, including bodies, arms, legs, etc. The hardware platform is a circuit board designed around the host MCU - MC9S08GB60 and contains hardware circuits for kinds of robot-controlling unit. MCU is the kernel of the hardware platform, with kinds of routines residing in it. These routines includes independently-developed monitor program which can be accessed by PC software to download user program to MCU and functional routines used to control the actions of robot. The user can customize their own robot-control program and download to MCU by using the developing tools presented by the software platform. The software platform provides two development styles: GUI -based style and C-similar style. The user could select the appropriate style according to his/her preference. The fundamental platform of robot development for education is primarily used in elhi extracurricular technological activity. At the same time, the platform can be used to design robot and attend various robot competition. This paper exposed the design background, design conception and implement approach of software and hardware. Beside that this paper also provides in-depth analysis on technological main point.
引文
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[35] (美)Robin R.Murphy.人工智能机器人导论[M].电子工业出版社,2004.
[2] (美)Fred G.Martin.机器人探索:工程实践指南[M].电子工业出版社,2004.
[3] (USA)Bostock, Mike. EDUCATIONAL ROBOT[J]. IEE Colloquium, 1985, (48):p51-53.
[4] (JAN)Suzuki, H. Summary report of survey on the actual conditions of robot [J]. education Robot, 1995, (106): p27-35.
[5] 彭绍东.信息技术教育的新发展:机器人教育[R]:http://hunandaxuesheng.blogchina.com/blog/article-67996.787509.html 2005.2.
[6] (USA)Murphy, R. R. "Competing" for a robotics education [J]. IEEE Robotics & Automation Magazine June 2001, 8(2):p44-55.
[7] 教育部文件.教育部关于 2002年普通高等学校招收保送生工作的通知[z].教学2002]6号.
[8] 中央电化教育馆函件.关于举办第六届全国中小学电脑制作活动的通知[z].教学馆[2005]13号.
[9] (PL)Bak, R. Jedwabny, T.; Kasinski, A.; Majchrzak, J.; Niwczyk, G. Computer-aided task planning and control system for an educational robot ROBO L-2 [J]. Studia z Automatyki i Informatyki, 1995, (2): p7-28.
[10] 教育部文件.关于在中小学普及信息技术教育的通知[z].教基[2000]33号.
[11] SUNNY618教育机器人的功能与特点[z].http://www.sunny618.com 2003.4.
[12] 陈晋龙,元魁等.一种智能教育机器人的研制[J].《测试技术》2003,22(6):p42-45,p50.
[13] Wang, WeiZhuang, Yan; Yun, Wei-Min Innovative control education using a low cost intelligent robot platform[J]. Robotica, 2003, 21(3): p283-288.
[14] 费仁元,张慧慧等.机器人机械设计和分析[M].北京工业大学出版社,1998.
[15] 马香峰.机器人机构学[M].机械工业出版社,1991.9.
[16] MC68HC908GP32 technical data[Z].www. motorola. com/semiconductors.
[17] MC9S08GB60. pdf[Z]. Motorola Inc., 2003.6.
[18] L298[Z]. STMicroelectronics Group of Companies, 1999.
[19] SerroManual. pdf [Z]. 中鸣数码科技有限公司, 2003.10.
[20] 15KV ESD-Protected +5V RS-232 Transcecivers [Z]. MAXIM, 1996.
[21] HT1620[Z]. Holtec Semiconductor Inc., 1999. 7.
[22] HD44780[Z].南京国显电子公司,2003.
[23] 王宜怀.单片机原理及其嵌入式应用教程[M].北京希望电子出版社,2002.8.
[24] 严宏穗.ET-18英雄机器人控制系统的研制[D].上海:上海大学,2002.
[25] 杨东勇,蒋静坪等.机器人分布多传感器系统的设计[z].《仪器仪表学报》,2002,23(3):p130-131.
[26] (美)迈克·普瑞德科.机器人控制器与程序设计[M].科学出版社,2004.5.
[27] 樊明轩.全区域覆盖移动机器人避障策略与多传感器系统的设计研究[D].南京:南京理工大学,2003.
[28] 10digital-gnomon.pdf[Z].上海广茂达,2003.
[29] 彭志.机器人无碰撞轨迹规划[D].沈阳:沈阳工业大学,2003.
[30] (日)城井田胜仁.机器人组装大全[M].科学出版社,2002.
[31] 罗志增,蒋静坪等.机器人感觉与多信息融合[M].机械工业出版社,2002.
[32] (日)西原主计,山藤和男等.机器人C语言机电一体化接口[M].科学出社,2002.
[33] iccmot, hlp[Z]. ImageCraft Creations Inc., 2000.
[34] (ISR)Verner, I. M. Waks, S. Educational features of robot contests the RoboCup-98 survey [J]. Advanced Robotics, 2OOO, 14(1): p65-74.
[35] (美)Robin R.Murphy.人工智能机器人导论[M].电子工业出版社,2004.