关节型博弈机器人智能控制系统模块化设计与实现

摘要

In order to solve the two major problems of joint type game robot,complex program of intelligent system and low con-trol precision,a machine vision system based on MATLAB platform and the scheme of adaptive fuzzy proportion integral differential (PID)control system have been designed by using machine vision technology and motor control technology. As a result, system to ex-tract board information and play chess information and stepper motor to enter the steady-state response time were fast.It is confirmed the high efficiency of the robot to perform the task of chess game, and also provided a new idea for the modular design of the intelligent control system of joint type robot.%为解决关节型博弈机器人智能控制系统程序复杂,控制精度低的两大问题,通过综合机器视觉技术与电机控制技术,提出了基于MATLAB平台下的模块化机器视觉系统设计概念及自适应性模糊化PID控制系统的设计方案.结果表明:系统提取棋盘信息和落子信息速度加快,步进电机进入稳态响应时间提前,证实了博弈机器人执行人机对弈任务的高效性,并且为关节型机器人智能控制模块化设计提供了新思路.