【作者】 徐青；

【导师】 申忠宇；

【作者基本信息】 南京师范大学 ， 电工理论与新技术， 2008， 硕士

【摘要】 桌面型的两足步行机器人不仅在教学、比赛和娱乐等方面应用广泛,并且也可以作为两足步行研究的平台。本文在“KONDO”两足步行机器人的机械结构的基础上,设计了基于ARM7处理器和μC/0S—Ⅱ实时操作系统的两足步行机器人控制系统,包括硬软件设计及其实现;设计了两足步行机器人的步行模式,实现了在平面上的稳定步行。针对“KONDO”机器人的机械结构和驱动器特点,选用ARM7内核处理器LPC2131作为处理器,设计了硬件;选用高性能电池作为机器人的电源,增加了机器人的灵活性;控制电路和驱动电路进行了光耦隔离,使得电路更加稳定和安全;并对所设计的硬件电路进行了测试,测试表明电路运行正常,设计正确。在硬件电路的处理器中,移植了μC/0S—Ⅱ操作系统;在操作系统下,设计了多个任务和中断处理函数,实现了两足步行机器人控制系统的各项功能,建立了完整的两足步行机器人控制系统软件框架;改进了通常的多路PWM信号产生方法,使控制信号的精度达到了1μs以上,解决了由于中断嵌套影响控制信号精度,从而引发机器人抖动的问题;并对机器人进行了关节调试。建立了“KONDO”两足机器人的多连杆运动模型;设计了该两足步行机器人的静态步行模式,并在控制系统中实现,使机器人能在平面上稳定行走;在分析了三维线性倒立摆的运动特性的基础上生成了动态步行模式,并在Matlab中做了仿真,为进一步深入研究作准备。更多还原

【Abstract】 The Biped walking desktop-robot is not only applied widely in teaching, competitions and entertainments, but also treated as a research tool of biped walking. In this thesis, a control system for biped walking desktop-robot is designed, which is based on ARM7 processor and Embedded Real Time Operating SystemμC/OS-II, and works well in the mechanism of the KONDO biped walking desktop-robot. A walking pattern for the biped robot is presented, and the robot can walk stably on the flat.The hardware circuit based on the ARM7-core processor LPC2131 for the robot is designed, which is suitable to the mechanical configuration and the drivers of the KONDO robot. Battery is used as the power-supply of the robot to increase the agility, and the photoelectricity-couplers are used to insulate the control circuit from the drive circuit for more stabilization and safety. The hardware circuit is tested to works well, and the result proves that the design of the hardware circuit is correct.The open-code operating systemμC/OS-II is explanted to the processor of the circuit. Under the operating system, several tasks and interrupt service routines are designed to accomplish the functions of the control system for the biped working robot. The frame of software is completed, which is for the control system for biped walking desktop-robot. A improved method of producing multiple PWM signals is presented, and the precision of the control signal can be improved to 1μs, and the problem that the robot shakes because of the interrupt-nesting is solved. A test to the articulations of the robot is done.The simple kinematics model in possession of multiple rigid shanks is built. The static walking pattern for the robot is designed and come into true in the control system, which makes the robot walk stably on the plat. And the dynamic walking pattern for biped walking robot is built based on the kinetic characteristic of three-dimensional linear inverted pendulum.The emulation of the dynamic walking pattern is done in the Matlab to make preparation for the further study.更多还原