期刊文献+

基于DSP爬壁机器人控制系统设计 预览 被引量:1

Design of Wall-Climbing Robot Control System Based on DSP
在线阅读 下载PDF
收藏 分享 导出
摘要 目的设计一种以TMS320F28335为核心控制芯片的双模块爬壁机器人控制系统,用于对飞机机舱内的情况进行检测.方法两个模块分别采用负压吸附方式和真空吸附方式,用两路PWM波驱动两路行走电机,设计了PID控制器参数并进行了优化,使机器人可以在有一定曲率的表面上行走.结果基于机器人双模块的设计方式,机器人可以跨越一定角度的交叉壁面.通过特殊的材料选取,减轻了机器人的质量,从而增加了机器人的有效载荷近15%.结论笔者设计的基于DSP的设计方案实现了机器人的交叉壁面跨越功能所提出的控制方法是先进有效的,可以有效地提高机器人的品质指标. This paper designs a kind of double-module climbing robot control system that uses TMS320FE8335 as its core chip to detect the case of aircraft cabin. Two modules apply the negative pressure adsorption mode and the vacuum suction mode respectively. By using two PWM waves to drive two walking motors, the PID controller parameters are designed and optimized, so that it not only can walk on the surface curved, but also transit between differently inclined surfaces owing to the way of its double modules design. Through selecting the special material, we reduce the quality of the robot, thereby the payload of the robot is increased nearly 15%. The design of the DSP control system achieves transiting between differently inclined surfaces, the proposed control method is advanced and efficient, and the quality indicators of robot can be ef- fectively improved.
作者 吴成东 赵博宇 肖文 陈莉 WU Chengdong, ZHAO Boyu ,XIAO Wen, CHEN Li ( School of Information & Control Engineering, Shenyang Jianzhu University, Shenyang, China, 110168)
出处 《沈阳建筑大学学报:自然科学版》 CAS 北大核心 2011年第5期 995-999,共5页 JOurnal of Shenyang Jianzhu University:Natural Science
基金 基金项目:国家863计划项目(2005AA420230)
关键词 爬壁机器人 控制 负压吸附 真空吸附 DSP wall-climbing robot control negative pressure adsorption vacuum suction DSP
作者简介 作者简介:吴成东(1960-),男,教授,博士后,博士研究生导师,主要从事机器人控制和智能图像处理等方面研究.
  • 相关文献

参考文献16

  • 1刘爱华.一种轮足复合式爬壁机器人机构建模与分析[D].沈阳:中科院沈阳自动化研究所,2008. 被引量:1
  • 2Menon C,Murphy M,Sitti G M.Inspired surface climbing robots[C]//Proceedings of the 2004 IEEE International Conference on Robotics and Biomimetics.Shenyang,China:IEEE Service Center,2004:431-436. 被引量:1
  • 3Full R J.Using Biological Inspiration to Build Artificial Life That Locomotes[C]//Proceedings of the international symposium on evolutionary robotics from intelligent robotics to artificial life.Berlin,Germany:Springer,2001:110-120. 被引量:1
  • 4Xiao Jun,Xi Ning.Fuzzy system approach for task planning and control of micro wall climbing robots[C]//IEEE International Conference on Robotics and Automation.New Orleans,LA:[s.n.],2004:5033-5038. 被引量:1
  • 5Xiao Jizhong,Xi Ning,Xiao Jun.Multi-sensor referenced gait control of a miniature climbing robot[C]//Proceedings of the 2003 IEEE/RSI.Las Vegas,Nevada:[s.n.],2003:3656-3661. 被引量:1
  • 6Daltorio K A,Gorb S,Peressadko A,et al.A robot that climbs walls using micro structured polymer feet[C]//Proceedings of the 8th International Conference on Climbing and Walking Robots.Berlin,Germany:Springer Verlag,2006:131-138. 被引量:1
  • 7李满天,Guo,Wei,Sun,Lining.Study of an inchworm-like micro-robot[J].高技术通讯:英文版,2006,12(2):165-169. 被引量:2
  • 8Li M T,Sun L N,Li Y.Workspace and passable environment analyses of a under actuated inchwormlike micro-robot[C]//IEEE International Conference on Macaronis and Automation.Canada:Niagara Falls,Ont.,2005:1741-1744. 被引量:1
  • 9Un L N,Li M T,Chu Y Y.Control system of mobile micro-robot based on DSP[C]//Proceedings of The Sixth International Conference on Electrical Machines and Systems.Berlin,Germany:Springer Verlag,2003:495-497. 被引量:1
  • 10姜勇,王洪光,房立金,张培锋,赵明扬.一种用于反恐侦察的爬壁机器人系统[J].机器人,2006,28(5):530-535. 被引量:9

二级参考文献31

共引文献95

同被引文献6

引证文献1

二级引证文献1

投稿分析

相关作者

内容加载中请稍等...

相关机构

内容加载中请稍等...

相关主题

内容加载中请稍等...

浏览历史

内容加载中请稍等...
;
使用帮助 返回顶部 意见反馈