六自由度迎宾机器人手臂控制系统设计与实现

摘要

设计并实现一个六自由度迎宾机器人手臂动作控制系统。该系统采用舵机实现六自由度伺服驱动，控制系统硬件部分主要包括ARM芯片 STM32、多路舵机PWM驱动电路、通讯模块等；软件上采用嵌入式μC／OS－II来实现舵机驱动与动作的规划。实验结果表明，设计的迎宾机器人手臂具有动作灵活可靠、性能稳定、价格便宜等特点，能够较好地实现迎宾娱乐等功能。%A 6-DOF arm control system for tour-guide robot is designed and implemented in which electric actuators are adopted to realize 6-DOF servo drive. The hardware mainly consists of STM32 ARM chip, PWM drive circuit for multi-channel servo and communication modules while the software uses embedded μC / OS-II to achieve the servo drive and action planning. The experimental results show that the tour-Guide robot arm so designed features flexibility, reliability and economy, which can better realize the duties as a tour guide robot.