| 腿型跳跃机器人控制系统设计与实现 |
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| 引用本文： | 李齐悦,胡胜海,刘载淳,张校东.腿型跳跃机器人控制系统设计与实现[J].应用科技,2011,38(9):6-10. |
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| 作者姓名： | 李齐悦 胡胜海 刘载淳 张校东 |
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| 作者单位： | 哈尔滨工程大学机电工程学院,黑龙江哈尔滨,150001 |
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| 基金项目： | 高等学校博士学科点专项科研基金资助项目 |
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| 摘 要： | 为了研究跳跃机器人的运动性能和控制方法，介绍了一种双关节腿型跳跃机器人系统的特点，并根据其功能要求提出了机器人控制系统的设计目标．据此设计并实现了以TMS320F2812为核心的控制系统，针对相应的功能完成了各功能模块的设计及软硬件实现．最后在试验平台上进行了相关试验，试验结果表明该控制系统的性能指标能够满足对跳跃机器人进行实时控制的要求．
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| 关 键 词： | 双关节机器人 跳跃机器人 数字信号处理器 控制系统 |
Design and implementation of the control system for a legged hopping robot |
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| LI Qiyue,HU Shenghai,LIU Zaichun,ZHANG Xiaodong.Design and implementation of the control system for a legged hopping robot[J].Applied Science and Technology,2011,38(9):6-10. |
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| Authors: | LI Qiyue HU Shenghai LIU Zaichun ZHANG Xiaodong |
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| Institution: | LI Qiyue,HU Shenghai,LIU Zaichun,ZHANG Xiaodong(College of Mechanical and Electrical Engineering,Harbin Engineering University,Harbin 150001,China) |
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| Abstract: | To research the motion performance and control methods of a hopping robot,characters of a double-joint legged hopping robot were introduced,and the design objectives of the robot control system were presented according to the robot's function.Then a control system based on TMS320F2812 was designed,and the hardware and software of every functional block were implemented.Results of experiments show that the performance of the control system can meet the requirement of real-time control over the hopping robot. |
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| Keywords: | double-joint robot hopping robot DSP control system |
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