基于Atmega128L的類(lèi)壁虎機(jī)器人運(yùn)動(dòng)控制系統(tǒng)的實(shí)現(xiàn).pdf

1、南京航空航天大學(xué)碩士學(xué)位論文基于Atmega128L的類(lèi)壁虎機(jī)器人運(yùn)動(dòng)控制系統(tǒng)的實(shí)現(xiàn)姓名：王超炎申請(qǐng)學(xué)位級(jí)別：碩士專(zhuān)業(yè)：機(jī)械設(shè)計(jì)及理論指導(dǎo)教師：戴振東20070601基于Atmega128L的類(lèi)壁虎機(jī)器人運(yùn)動(dòng)控制系統(tǒng)的實(shí)現(xiàn)iiAbstractVariousrobotsareplayingimptantrolesnowadays.Asoneoftheserobotsthegeckolikerobothasalotofadvantagesf

2、itsspecialapplicationssuchasmilitaryantiterrism.Thisthesisaimsatthedesignprocessofthegeckolikerobot’scontrolsystemmainlystudiesonhardwaredesign、softwaredesignthegaitplanning.Firstlythisthesisintroducedthedevelopmentcurre

3、ntsituationofthecontrolsystemofgeckorobottherobot’smechanicalmodel.Tomeetingthecontrolrequirements，wechooseAtmega128Lasthecontrolchipdesignthehardwareofthecontrolsystem.Therearefourpartsinthecontrolsystem.Theyarepowermod

4、uledrivingmodulewirelesscommunicationmoduleserialcommunicationmodule.Whendesigningthesoftwareofcontrolsystemweusemodularizeddesignmethodimprovecoderecoveryrateapplyclienthostmodel.Hosttransmitsthecommthroughwirelessmodul

5、eclientreceivesexecutesthecommbackupthestateatthesametime.AnalyzingthegaitofgeckowesimulatethegaitofgeckolikerobotwithADAMS.Throughexperimentswefindwheretheproblemsareadjustgait.Theexperimentresultsshowthatthisthesissolv

6、esaseriesofproblemsinthemodelmachinecontrollingimprovedthemechanicaldesignthegaitplanning.Itwasprovedthatthisdesignisfeasiblereachestheexpectedgoals.Thisthesisestablishedafoundationfthefollowingwksuchasdesignofmechanical