摘要
研究了基于PIC单片机为控制核心的格斗机器人。该机器人由动力系统、机械系统和控制系统组成,其控制系统主要由PIC单片机、电机驱动电路和传感器模块三部分组成。在机器人控制系统的软件设计中,采用了自救、搜索和攻击算法。利用灰度传感器和接近传感器将信号经模数转化为14位数字量。在精度问题上,通过软件实现只取其中的高8位,并在实际对抗中,取得较好的效果。
Grapple robots based on PIC single chip as the control core is studied in this paper. This robot consists of dynamic system, mechanical system and control system. The control systern mainly includes PIC single chip, motor drive circuit and sensor module. Self-help algorithm, search algorithm and attacking algorithm are adopted in the software design of the control system. The signal becomes 14-bit digital quantity after the process of a/d conversion with gray sensor and infrared sensor. The high 8-bit is obtained by way of software in precision. The grapple robot can acquire a better effect in the actual collision.
出处
《北京石油化工学院学报》
2006年第1期21-23,共3页
Journal of Beijing Institute of Petrochemical Technology
