摘要
以全方位移动平台作为研究对象,提出以全向轮为基础的全方位移动平台控制系统设计方案,包括移动平台的运动分析、硬件的设计和软件的设计.控制系统以STM32F103为控制核心,通过光电编码器和MPU6050惯导模块采集、检测移动平台的旋转角度和位移大小,反馈给单片机实现精确定位,并通过反馈装置实时了解移动平台的运动状态;本文采用STM32搭建的全方位位移机器人平台,响应速度快,机构灵活,为以后的自主导航和自主避障提供了很好的平台.
This paper takes omnidirectional mobile platform as a research object,and proposes a design scheme for omnidirectional mobile platform control system based on omnidirectional wheels.Emphasis is placed on motion analysis,hardware design and software design of the mobile platform.With STM32 F103 as a control core,the research collects and detects the rotation angle and displacement of the mobile platform through a photoelectric encoder and MPU6050 inertial navigation module,which is then fed back to the single-chip microcomputer to achieve precise positioning.Understanding of the movement status of the mobile platform in real time is obtained by using a feedback device.The omnidirectional displacement robot platform built using STM32 has fast response speed and flexible mechanism,which provides a good platform for autonomous navigation and autonomous obstacle avoidance in the future.
作者
肖进
赵锦芝
王伟
朱春义
XIAO Jin;ZHAO Jin-zhi;WANG Wei;ZHU Chun-yi(School of Mechanical Engineering,Nanjing Institute of Technology,Nanjing 211167,China)
出处
《南京工程学院学报（自然科学版）》
2021年第1期69-73,共5页
Journal of Nanjing Institute of Technology(Natural Science Edition)
作者简介
肖进,硕士研究生,研究方向为机器人及其自动化,E-mail:550136400@qq.com。
