【作者】 丁雄勇；

【导师】 黄玉水；

【作者基本信息】 南昌大学 ， 电力电子与电力传动， 2010， 硕士

【摘要】 仿真机器人是具有真人的外形外貌、语言、动作和与人交流能力的机电一体化系统。仿真机器人控制系统是在仿真机器人机械机构的基础上,为满足仿真机器人设计目的和控制目标而执行仿真机器人运行方案,代表了仿真机器人大脑的一套控制系统。本文致力于如何搭建仿真机器人控制系统以及如何让它良好运行展开了实质性的研究工作。首先、明确了仿真机器人控制系统的控制目的和要求、系统构成和软硬件平台。其次、构建了仿真机器人语音系统,对其包含的语音合成、语音识别两部分进行研究后将它们应用于仿真机器人控制系统中。然后、设计并搭建了仿真机器人控制系统硬件电路,包括直流电机驱动电路、无刷直流电机驱动电路、舵机控制器、大功率继电器驱动电路等。最后、根据仿真机器人控制系统的控制任务和控制要求展开了具体的软件设计,包括上下位机之间的通信协议、仿真机器人每个跟现实状况相匹配的执行状态和执行内容、仿真机器人的每个动作单元及子动作单元等。将成功研制的仿真机器人控制系统与仿真机器人机械机构结合后,经实践检验论证,仿真机器人运行稳定可靠、性能优异、维护简单、应用效果良好。更多还原

【Abstract】 Simulation robot is the mechatronics system with human appearance、language、movement and the ability to communicate with people. Based on simulation robot’s mechanism, simulation robot control system represents simulation robot’s brain, and implements simulation robot’s run program to meet simulation robot’s design goal and control target. Dedicated how to build simulation robot control system and how to make it operate satisfactorily, this paper carried out Substantial research work. First, this paper defined simulation robot control system’s control target and requirements、system configuration、software and hardware platforms. Second, this paper built simulation robot speech system, and after studying the two parts of speech synthesis and speech recognition contained by speech system applied them to the simulation robot control system. Then, this paper designed and built the simulation robot control system’s hardware circuits, including the DC motor drive circuit, the Brushless DC Motor drive circuit, the servo controller, the large power relay drive circuit, etc. Finally, according to the simulation robot control system’s control tasks and control requirements this paper specifically designed its software, including the communication protocol between the upper computer with the lower computers, simulation robot’s each executing state and executing content which match the actual situation、simulation robot’s each movement unit and each movement subunit, etc. After joining the simulation robot control system developed successfully and simulation robot’s mechanism, production practice proved that simulation robot run stably and reliably, had Excellent performance and easy service, got a good result in application.更多还原