摘要
从移动机器人的运动学模型出发,分析了其各种运动状态的实现原理,并以DSP芯片作为运动控制系统的主控制器,研制了系统的硬件平台。为使机器人的运动满足控制精度高、快速平稳的要求,运用模糊PID算法作为系统的控制算法,并提出了算法的具体实现方法,最后介绍了系统的软件设计架构。
This paper begins at the kinetic model of a mobile robot, analyzes the achieving principles of its each movement status, using the DSP chip as the main controller of the motion control system, developing the hardware structures of the system. In order to make the robot＇s movement can be precisely, quickly and steadily, using the fuzzy PID arithmetic as the system＇s control arithmetic, and giving out the concrete achieving method of the arithmetic, then, introducing the software structures of the system.
出处
《机电产品开发与创新》
2007年第1期11-13,共3页
Development & Innovation of Machinery & Electrical Products
