基于轮式驱动的教学机器人研制  

Development of an Teaching Robot Based on Wheel Driver

作　　者：梁明亮[1] 孙逸洁[1] 

机构地区：[1]郑州铁路职业技术学院电子工程系,河南郑州450052

出　　处：《实验室研究与探索》2013年第2期227-230,共4页Research and Exploration In Laboratory

基　　金：河南省教育厅科技攻关资助项目(2011C510003);河南省科技攻关项目(082102210075)

摘　　要：针对机器人创新教育、技能竞赛和科研的需要,研发了基于四轮驱动的智能教学机器人。介绍该机器人的系统设计方案、硬件组成和软件编程;系统采用嵌入式控制技术,主控器以ARM9系列S3C2440A为处理器,驱动器以AVR单片机ATmega16L为处理器,控制直流驱动电机的速度和转向;采用Linux操作系统和基于PID算法的C语言编程。实现了自动寻迹、温度探测、图像采集、无线通信等功能,在全国职业院校技能大赛中取得了优异的成绩。In view of the requirement of robot innovative education, skills competitions and research, an intelligent teaching robot is developed based on four-wheel drive. This paper analyzed the design, hardware and software programming of a robot system. The system uses an embedded control technology. The S3C2440A of the ARM9 series was used as the processor of the master controller. The ATmegal6L was used as the driving circuit to control DC motor for speed governing and steering. The operating system of Linux and C language based on PID algorithm were used to program. The robot has such functions as automatic tracing, temperature detection, image acqnisition, wireless communications. It achieved excellent results in the National Vocational Students Skills Competition.

关 键 词：教学机器人 轮式驱动 ARM9 PID 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]