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南京理工大學(xué)泰州科技學(xué)院
畢業(yè)設(shè)計(jì)說(shuō)明書(shū)(論文)
作 者:
黃俊
學(xué) 號(hào)：
05010213
系 部:
機(jī)械工程系
專 業(yè):
機(jī)械工程及自動(dòng)化
題 目:
兩足行走機(jī)器人
—行走控制部分設(shè)計(jì)
指導(dǎo)者： 路建萍 劉艷
評(píng)閱者： 龔光容
2009 年 6 月
畢業(yè)設(shè)計(jì)說(shuō)明書(shū)（論文）中文摘要
兩足步行機(jī)器人不僅在教學(xué)、比賽和娛樂(lè)等方面應(yīng)用廣泛，并且也可以作為兩足步行研究的平臺(tái)。本文在“KONDO”兩足步行機(jī)器人的機(jī)械結(jié)構(gòu)的基礎(chǔ)上，設(shè)計(jì)了基于AVR處理器的兩足步行機(jī)器人控制系統(tǒng)，包括硬軟件設(shè)計(jì)及其實(shí)現(xiàn)；設(shè)計(jì)了兩足步行機(jī)器人的步行模式，實(shí)現(xiàn)了在平面上的穩(wěn)定步行。在硬件電路的處理器中，移植了u C/OS-II操作系統(tǒng)，實(shí)現(xiàn)了兩足步行機(jī)器人控制系統(tǒng)的各項(xiàng)功能，建立了完整的兩足步行機(jī)器人控制系統(tǒng)軟件框架；改進(jìn)了通常的多路PWM信號(hào)產(chǎn)生方法，使控制信號(hào)的精度達(dá)到了lus以上，解決了由于中斷嵌套影響控制信號(hào)精度，從而引發(fā)機(jī)器人抖動(dòng)的問(wèn)題；并對(duì)機(jī)器人進(jìn)行了關(guān)節(jié)調(diào)試。
關(guān)鍵詞 機(jī)器人 處理器 操作系統(tǒng)
畢業(yè)設(shè)計(jì)說(shuō)明書(shū)（論文）外文摘要
Title The Biped Walking Robot Designs
Abstract
The Biped walking desktop-robot is not only applied widely in teaching, competitions and entertainments, but also treated as a research tool of biped walking. In this thesis, a control system for biped walking desktop-robot is designed, which is based on AVR, and works well in the mechanism of the KONDO biped walking desktop-robot. A walking astern for the biped robot is presented, and the robot can walk stably on the flat.
The open-code operating system, uC/OS-II is explanted to the processor of the circuit. Under the operating system, several tasks and interrupt service routines are resigned to accomplish the functions of the control system for the biped working boot. The frame of software is completed, which is for the control system for biped asking desktop-robot. A improved method of producing multiple PWM signals is resented, and the precision of the control signal can be improved to 111 s, and the problem that the robot shakes because of the interrupt-nesting is solved. A test to the articulations of the robot is done.
Keywords Robot Processor Control System