机器人运动控制实验设计与实现

摘要

基于AVR单片机完成机器人运动控制系统设计,构建机器人运动学模型,采用“比例一微分一积分控制器”实现机器人前进、后退、原地旋转和圆弧运动控制.设计并实现了机器人运动控制系统演示实验和机器人运动控制半开放实验,实现效果达到预期实验设计目标.%The design on robot's motion control system based on AVR single chip microcomputer is finished. Controlling on advance, drawing back, in situ rotation and arc motion of robots are implemented based on robot's kinematics model and proportional-differential-integral controller. The demonstrating experiment and experiment with open controller of robot motion control system are designed. Results show that experiments designed meet the design aims.