六足机器人控制系统设计  

Hexapod Robot Control System Design

作　　者：马鑫[1] 吴银川[1] Ma Xin;Wu Yinchuan(Shanxi Key Laboratory of Oil and Gas Well Measurement and Control Technology,Xi’anShiyou University,Xi’an,710065,China)

机构地区：[1]西安石油大学陕西省油气井测控技术重点实验室,西安710065

出　　处：《仪器仪表用户》2023年第6期14-18,共5页Instrumentation

摘　　要：由于国内石油管线巡护以传统人工巡检为主,受人为和地理区域因素的影响,导致复杂地理环境以及人力无法达到区域的场所下的管线巡检困难。因此,本文设计了一种六足机器人控制系统,使用STM32F103RCT6作为主控板,连接舵机驱动板,搭配传感器模块,采用三角步态来控制机器人,从而实现石油管道智能巡检。Since the inspection of oil pipelines in China is mainly based on traditional manual inspection,it is affected by human and geographical regional factors,which leads to the difficulty of pipeline inspection in complex geographical environment and plac­es where manpower cannot reach the area.Therefore,this paper designs a hexapod robot control system,using STM32F103RCT6 as the main control board,connecting the servo drive board,matching the sensor module,and using a triangular gait to control the robot,so as to realize the intelligent inspection of oil pipelines.

关 键 词：六足机器人 STM32 舵机驱动板 三角步态 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]