Robocup中型組機(jī)器人控制體系結(jié)構(gòu)和驅(qū)動(dòng)系統(tǒng)的設(shè)計(jì)與實(shí)現(xiàn).pdf

1、北方工業(yè)大學(xué)碩士學(xué)位論文Robocup中型組機(jī)器人控制體系結(jié)構(gòu)和驅(qū)動(dòng)系統(tǒng)的設(shè)計(jì)與實(shí)現(xiàn)姓名：戴皓申請(qǐng)學(xué)位級(jí)別：碩士專業(yè)：檢測技術(shù)與自動(dòng)化裝置指導(dǎo)教師：李小堅(jiān)20040601AbstractWiththedevelopmentofthescienceandtechnologytheneedofhigh。levelintelligentmobilerobotsystembecomesmoreandmoreurgentinmanyfieldsA

2、ecordin出y’mobileroboticsresearchcomesintoanewagePeoplearemoreandmoreawarethatthecontrolsystemstructureanddrivesystemplayallimportantroleinthewholemobilerobotsystem，OurresearchobjectisthefullindependentrobotoftheInstitute

3、ofAutomation＆ChineseAcademyofSciencesandthisthesisinvestigatesthecontrolsystemstructureanddrivesystemofthemobilerobotThemainWOrkandspecificcontributionsofthisresearchaFeasfollows：Firstly，theapplicationbackgroundanddevelo

4、pmentstatusaresummarized，theorigin，sortandstatusinquoofthefootballrobotarebrieflyintroduced，thentheROBOCUPfootballrobotisspecifiedAsthis，theROBOCUPfootballrobotcanbecomprehendedstepbystepSecondlybymeansofanalyzingseveral

5、familiarcontrolsystemstructuresandinformationamalgamationhiberarchyofrobot，thecharacteristicofacontrolsystemstructurebasedonparallelbehaviourcombinationissummarizedA1SO。theanalysisoftherobot’Sbasicbehaviourandthedesignof

6、thebehaviourcontrolhiberarchyHreexpatiatedindetailThirdlybymeansoftheforenamedconceptofcontrolsystemstructure，thedesignoftherobotcontr01systemiscarriedthroughsoftwareandhareware：Inharewareaspect，inordertomakemultiDSPdisp

7、osalplatform，adoptseveralDSPtodealwiththeircorrespondingmodulefunction；Insoftwareaspectembodytheideaofconfigurabilityandmodularizationaswellasconsideringthesoftwareplatform’ScurrencyThus，therealizationofthiscontrolstruct

8、ureonmulti—DSPsystemandRTOSplatformisdoneFourthlybydiscussingseveralfamiliardrivestructures’characteristic，anewdrivestructureandmethodofmobilerobotplatformiSsummarizedByit’Smeans，developandexploitahi曲capabilityandpricefo

9、otballrobotdriveplatformwhichbasesonDSPandcPLDThus，thedesignofhiglintegration，higfIcapabilitymultimotormotioncontr01systemisfinishedFifthlybyadoptnewmatrixcoordinatesystemmeansfoundatricycleWMR’Skinematicmodel，especially

10、theinvestigationinthekinematicallymodelingofsteeredwheelandnonsteeredwheelAtthesametime，thedynamicmodelingofrobot’Splayingfootballmotion，consummatemobilerobot’SsystemBythecomparisonwiththetwowheeleddifferentialdrivestruc

11、tureonlineorcirculartrack’Ssimulationexperimentresult，illustratethetricycleWMR’SsuperioritymoreandmoreFinallysummarizetheauthor’sresearchresults，anddescribesometopicforfutureresearchKeyword：Mobilerobot，Controlsystemstruc