六自由度迎宾机器人手臂控制系统设计与实现  

Design and Implementation of 6-DOF Arm Control System for Tour-Guide Robot

作　　者：吴春富[1] 王小龙[1] 蔡小伟[1] 杨元慧[1] 

机构地区：[1]龙岩学院,福建龙岩364000

出　　处：《龙岩学院学报》2015年第5期32-37,共6页Journal of Longyan University

基　　金：龙岩学院产学研基金项目(2014JY38);龙岩学院百名青年教师攀登项目(LQ2016006)

摘　　要：设计并实现一个六自由度迎宾机器人手臂动作控制系统.该系统采用舵机实现六自由度伺服驱动,控制系统硬件部分主要包括ARM芯片STM32、多路舵机PWM驱动电路、通讯模块等;软件上采用嵌入式μC/OS-II来实现舵机驱动与动作的规划.实验结果表明,设计的迎宾机器人手臂具有动作灵活可靠、性能稳定、价格便宜等特点,能够较好地实现迎宾娱乐等功能.A 6-DOF arm control system for tour-guide robot is designed and implemented in which electric actuators are adopted to realize 6-DOF servo drive. The hardware mainly consists of STM32 ARM chip, PWM drive circuit for multi-channel servo and communication modules while the software uses embedded μC / OS-II to achieve the servo drive and action planning. The experimental results show that the tour-Guide robot arm so designed features flexibility, reliability and economy, which can better realize the duties as a tour guide robot.

关 键 词：舵机 伺服驱动 网络化控制 STM32 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]