全位移视觉机器人实训平台设计  

Design of training platform for omni-directional vision robot

作　　者：李哲[1] 洪志辉 涂玲[1] 杨明辉[1] 邓晓刚[1] 刘宝[1] LI Zhe;HONG Zhihui;TU Ling;YANG Minghui;DENG Xiaogang;LIU Bao(College of Control Science and Engineering,China University of Petroleum(East China),Qingdao 266580,China)

机构地区：[1]中国石油大学(华东)控制科学与工程学院,山东青岛266580

出　　处：《电子设计工程》2023年第3期28-32,37,共6页Electronic Design Engineering

基　　金：山东省本科教学改革面上项目(M2020205);山东省自然科学基金(ZR2020MF093);山东省研究生教育优质课程(SDYKC20026);中国石油大学(华东)实验教改项目(CM2022069,CM2022068)。

摘　　要：针对高校智能机器人实训课程,设计了一种全位移视觉机器人实训平台。以麦克纳姆轮与直流电机配合控制实现全位移;基于SolidWorks完成机器人底盘,双轴云台等机械结构设计。硬件系统由STM32F405核心板,搭载英伟达Jetson Nano视觉系统组成。采用串级PID控制算法实现实时运动及跟踪控制。实训平台融合机械设计、电路设计、先进控制、自动识别、图像处理等技术,基于此平台的实训课程,学生可以系统地学习机器人结构、电源供给、电机驱动、传感器技术及典型控制算法等知识,进而开展自主设计,完成更多综合性、创新性、探索性实验项目。For the intelligent robot training courses of universities,a training platform of omni-directional vision robot is designed. Based on SolidWorks,the mechanical structure design of robot chassis,double axis pan tilt and so on is completed. The hardware system consists of STM32F405 core board and NVIDIA Jetson Nano vision system. Cascade PID control algorithm is used to realize real-time motion and tracking control. The training platform integrates mechanical design,circuit design,advanced control,automatic recognition,image processing and other technologies. Based on this platform,students can systematically learn robot structure,power supply,motor drive,sensor technology and typical control algorithm,and then carry out independent design to complete more comprehensive,innovative and exploratory experimental projects.

关 键 词：全位移机器人 麦克纳姆轮 机械设计 硬件设计 串级PID控制 

分 类 号：TN710.9[电子电信—电路与系统]