拱泥机器人载体竖直站立实时检测设计  

Design of Real-time Detecting System for Work-in-mud Stand ing Robot

作　　者：陈洪财[1] 

机构地区：[1]韩山师范学院,广东潮州521041

出　　处：《计算机测量与控制》2005年第9期918-920,共3页Computer Measurement &Control

基　　金：国家自然科学基金资助项目(69885003)

摘　　要：简要介绍了节杆式水下机器人运动控制及其应用,提出了变间隙动极板电容传感器代替传统水准器的设计方案,利用变间隙动极板电容形成振荡器,当电容动极板间距有微小改变时,振荡器的输出频率有较大改变,通过对振荡器输出脉冲记数并进行比较,从而调节拱泥机器人载体竖直站立的位置;设计了位置检测系统的通讯接口电路,并完成系统的软件设计工作。The motion control system of rod-type submarine robot and its application are briefly introduced. And the replacement of traditional spirit level by a capacitor with adjustable electrode is put forward. The output oscillation frequency of the capacitor will change moderately due to a tiny adj ustment of the electrode plate. The output phases of the oscillator is counted a nd compared with each other, thus the robot standing position can be adapted. AI so the communication joint circuit for robot positioning system and its correlat ire working software are designed.

关 键 词：机器人载体 竖直站立 实时检测 

分 类 号：TP274[自动化与计算机技术—检测技术与自动化装置]