基于嵌入式PC的机器人运动控制系统设计  

Design of Robot Motion Control System Based on Embedded PC

作　　者：赵彬[1] 张艳荣[1] 高宏力[1] 孔德松[1] 黄晓蓉[1] 

机构地区：[1]西南交通大学机械工程学院,四川成都610031

出　　处：《机床与液压》2015年第9期74-76,70,共4页Machine Tool & Hydraulics

摘　　要：针对现有全向移动机器人电控系统结构复杂、可靠性低的问题,设计了一种基于嵌入式PC的机器人运动控制系统。控制器连接传感器检测和电机驱动等Ether CAT总线端子模块,实现硬件的模块化集成,使系统硬件结构更紧凑。采用模糊控制算法跟踪路径,软PLC的任务分配实现软件的模块化设计,程序的执行效率更高。实验结果表明:电机响应速度快且鲁棒性好,机器人能准确跟踪预定路径,验证了该控制系统的有效性和稳定性,能满足复杂环境下的应用要求。Aimed at the recent existing control systems of omni-direction robot of structure of complexity and low reliability,a new motion control system of robot was proposed based on embedded PC. The Ether CAT bus terminal modules connected to the controller were used for detecting the signals from sensors and driving motors. The modular integrated hardware was implemented making the system more compact. Fuzzy control algorithm was used to track the path. The execution of program was more efficient for modular design accomplished by soft PLC task configuration. Experiment result shows that the motor is robust and the response is rapid. Robot can accurately track the predetermined path. It verifies the validity and stability of the control system which is suitable to be applied in complex environment.

关 键 词：全向轮 嵌入式PC 模糊控制 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]