摘要
文章应用AT89S52内部的2个定时器,采用多舵机分时控制方法,设计了可驱动机器人足部12个舵机协调运动的控制器;按照六足机器人典型行走步态,实现了六足机器人按步态规划运动。测试结果验证了该设计方案的正确性和可靠性。
Based on 2 inter-timers of AT89S52 and multi-rudder time slicing control method, a movement controller was designed, which could drive 12 rudders to coordinately work. According to typical walking gaits of hexapod robot, it was realized that movement of the hexapod robot accords with the gait layout. Testing result verified reliability and correctness of the designed scheme.
出处
《工矿自动化》
北大核心
2008年第4期62-62,63-65,共4页
Journal Of Mine Automation
