輪式與六桿機構(gòu)復(fù)合移動機器人控制系統(tǒng)研究.pdf

1、北京交通大學碩士學位論文輪式與六桿機構(gòu)復(fù)合移動機器人控制系統(tǒng)研究姓名：王洪瑋申請學位級別：碩士專業(yè)：機械設(shè)計及理論指導教師：姚燕安王恒20080601ABSTRACTABSTRACTForitsadvantageinthefieldofexploration，militaryscout，nuclearengineeringandSOonmobilerobothasattractedmoreandmoreattentionofresear

2、chersandbecomethecoretechnologyoftheinternationalcompetitionTheautonomousmobilerobotshouldhavestrongabilitytoadjusttheunseededenvironmentThepresentresearchesaremostdedicatedtothesmartofthemechanismoftherobotandtheperform

3、anceofthecontrolsystemtoimprovetheabilityofadjustingthegroLuldenvironmentThethesismadeacomprehensivestudyoncontrolsystemofwheeledandsixbarcompoundmobilerobotFirstlybasedonthisrobot，inviewofpitch、lugbossandtrench，theobsta

4、clecrossingcapabilityofrobotwerecompletedTheresearchingaitplarmingwerecompletedJointmotormovementsequenceofthreegaitweredetailedanalyzedandthepathplanwascompletedParameterofmovementwereprovidedforcontrolsystemSecondlythe

5、hardwarearchitectureofcontrolsystemwasproposedBasedonPCI04，hardwareofembeddedrobotcontrolsystemwasdevelopedThefunctionofplanmodule、sensingsystemandexecutivesystemweredetailedanalyzedForthedemandofrobot，thecontrolplateofm

6、otorandconnectioncircuitofsensorweredevelopedManykindsofsensorswereusedFinallythesoftwarearchitectureofcontrolsystemWasproposedBasedonRTlinux，thesoftwareofembeddedrobotcontrolsystemwaspresentedWorkingmechanismofLinuxandR

7、TlinuxweredetailedanalyzedKeytechnologiesofreal_timesystemwasresearchedReal—timethreadwascompletedinRTlinuxkernelGaitplanning、servo—control、pathplanningandsensinginformationacquisitionwerecompletedItisbetterfordebuggingo