履帶式移動(dòng)機(jī)器人嵌入式控制研究.pdf

1、河北工業(yè)大學(xué)碩士學(xué)位論文履帶式移動(dòng)機(jī)器人嵌入式控制研究姓名：顏兵森申請(qǐng)學(xué)位級(jí)別：碩士專業(yè)：機(jī)械工程指導(dǎo)教師：丁承君2010-12履帶式移動(dòng)機(jī)器人嵌入式控制研究 ii RESEARCH ABOUT EMBEDDED CONTROL OF CATERPILLAR MOBILE ROBOT ABSTRACT Embedded control in robot technology application research is very

2、meaningful. With the unceasing development of aviation and aerospace technology, electronic technology and computer technology , which have been creating good environments , robot technology gains huge improvement toward

3、 high intelligent direction . At the same time, the application field has been more extensive , not only in military field , outside space exploration but also in some daily life field such as medicine,etc. Along with th

4、e development of high-tech industries， requirements for Mobile robot intelligence improves gradually. Low power consumption, high performance, flexibility and operability gain more attention. The low power, modular and h

5、igh performance characteristics of embedded system Can satisfy the requirement perfectly. This thesis designed the robot movable chassis, expanded the sensory system of the mobile underpan.Besides, This thesis installed

6、the embedded control system in the design. On this basis , completed the robot control program design and remote operation procedure, the main completed work shows below: Firstly，consulted a lot of related literature inc

7、lude domestic and abroad, understanded the mobile robot control system’ Research status.Completed crawler mobile robot mobile underpan hardware design through 3d virtual prototype technology ,Including the establishment

8、of platform bottom control system, perceptual system and the embedded controller. Founded the controller on embedded control system, including sensor system, controller and driving control. Secondly, completed the embedd

9、ed crawler mobile robot control within embedded control system, including the movement control program design, as well as to the sensor system information processing. Lastly, expanded a wireless network function between

10、embedded handheld devices and robot controller, established the embedded operating system against hand-held devices ,including hardware system and software systems. KEY WORDS: robot, embedded control, teleoperation