| 基于SOPC的自寻迹切割机器人运动控制系统研究 |
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| 引用本文： | 陈深,高春甫,荆宝德,罗志勇,沈孟锋,陈远超.基于SOPC的自寻迹切割机器人运动控制系统研究[J].机电工程,2011,28(1):60-62,78. |
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| 作者姓名： | 陈深 高春甫 荆宝德 罗志勇 沈孟锋 陈远超 |
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| 作者单位： | 浙江师范大学,工学院,浙江,金华,321004 |
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| 基金项目： | 浙江省新苗人才计划资助项目 |
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| 摘 要： | 针对自寻迹移动切割机器人控制为非完整系统控制的特点,构建了机器人运动模型,并分析了其运动规律,设计了一种基于可编程片上系统(SOPC)技术的切割机器人运动控制系统.该系统以EP3C55芯片为控制核心,采用模糊控制策略实现了切割机器人的运动控制.实验结果表明,该控制系统运行平稳,控制响应快,能够满足切割机器人的实时控制的...
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| 关 键 词： | 可编程片上系统 自寻迹 切割机器人 运动控制 |
Study of motion control system for auto-searching cutting mobile robot based on SOPC |
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| CHEN Shen,GAO Chun-fu,JING Bao-de,LUO Zhi-yong,SHENG Meng-feng,CHEN Yuan-chao.Study of motion control system for auto-searching cutting mobile robot based on SOPC[J].Mechanical & Electrical Engineering Magazine,2011,28(1):60-62,78. |
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| Authors: | CHEN Shen GAO Chun-fu JING Bao-de LUO Zhi-yong SHENG Meng-feng CHEN Yuan-chao |
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| Affiliation: | (Engineering College,Zhejiang Normal University,Jinhua 321004,China) |
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| Abstract: | Aiming at the nonholonomic controlling of auto-searching cutting mobile robot with the motion law,the dynamic and kinematic models of mobile robot were established.A motion control system based on system on a programmable chip（SOPC） was designed,EP3C55 core was employed as the kernel of the robot motion controller,the fuzzy control strategy was adopted to control the motion of the cutting mobile robot.The effectiveness of the new design is testified by the experiment,which can meet the requirements of actual cutting engineering. |
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| Keywords: | system on a programmable chip（SOPC） auto-searching cutting mobile robot motion control |
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