摘要
为了控制由8个电动机驱动的关节独立的四足仿生机器人实现爬行动作,建立了机器虫的运动控制系统。系统选取DSP2000系列中的TMS320F2812芯片作为控制器,通过产生周期为20ms,高电平宽度为0.5～2.5ms的脉冲来实现对电机角度的控制,通过插值实现对电机速度的调节,选取ADS7842E作为外扩A/D采样芯片,采用PID控制算法实现了对位置的反馈控制。
In order to control the crawl of the four-legged robot with independent joints,which is driven by 8 motors the robot motion control system is established in this paper,in which the chip TMS320F2812 is selected as the controller,the motor angle is controlled by generating impulses with 20ms in cycle,0.5~2.5ms in high width,the motor speed is regulated by interpolation,chip ADS7842E is selected as extended A/D sampling chip,position feedback control is realized by using PID control algorithm.
出处
《机械制造与自动化》
2010年第6期143-145,152,共4页
Machine Building & Automation
