基于S3C44BOX和SM5004的足球机器人运动控制系统  

The motion control system of the soccer robot based on S3C44BOX and SM5004

作　　者：田琦[1] 张国良[1] 陈林鹏[1] 刘延飞[1] 

机构地区：[1]第二炮兵工程学院,陕西西安710025

出　　处：《电子技术应用》2007年第9期34-37,共4页Application of Electronic Technique

摘　　要：Robocup中型组的足球机器人控制系统设计。描述了以S3C44BOX为主控芯片,SM5004为驱动芯片的底层运动控制模块的硬件结构,通过分析四轮全向机器人的运动学模型,使用模糊自适应PID控制算法完成对机器人的闭环控制。实践证明,以这种控制器作为ROBOCUP中型组机器人的底层运动控制系统,其速度、位置及控制精度等指标均达到了设计要求。Introduced the design of soccer robot motion control system, described a bottom motion controller framed by ARM embedded chip S3C44BOX used as main chip, SM5004 used as driving chip. Analyzed the kinematics model of a four wheeled omni-directional robot, and used a fuzzy self-adaption PID control arithmetic to accomplish closed loop control. The result showed that as the bottom motion controller of Robocup middle-size robot the controller achieved the request of velocity and locational precision.

关 键 词：Robocup中型组 运动控制 ARM 四轮全向机器人 PID 

分 类 号：TP332[自动化与计算机技术—计算机系统结构]