一种双足机器人控制系统设计

摘要

Research of the robot controlsystembased on embedded technology, using Cortex-M3 core STM32F013ZET6chip as the system microcontroller to design the overall system architecture. The system combines wireless transmission, sensor technology and embedded technology to realize data acquisition, data transmission and instruction execution function in modular design.The RF modules CC1101 as responsible for remote control operation, using MPU6050 Multi axis motion processor for acquisition and processing the attitude data, control the robot and display the results through PC terminal. After many times of experiment test, the biped walking robot controlling system has a good real-time performance, high precision and stable performance, is able to achievedon biped walking robot controlling.%研究基于嵌入式的双足机器人控制系统设计，以Cortex-M3内核的STM32F013ZET6控制芯片作为系统微控制器，设计出控制系统的总体架构方案。该控制系统结合无线传输、传感器技术与嵌入式技术，以模块化设计实现数据采集、数据传输和指令执行。采用无线射频模块CC1101负责远程操作控制，运用多轴运动处理组件MPU6050监测机器人姿态并实时反馈，并处理数据使得机器人快速调整相应姿态，通过PC终端操作系统及显示结果。经过多次的实验测试，系统各个模块配合良好，实时性好、性能稳定，能够实现自由行走。