基于DSP的移动机器人运动控制系统

摘要

研发了一种移动机器人,该机器人包含双电机驱动的底盘系统和具有2自由度摆臂、2自由度头部的机器人本体;采用DSP芯片为核心控制芯片,实现了移动机器人的运动控制.文中详细讨论了机器人运动控制系统的总体框架结构及软、硬件,研究了所采用的控制方法、软件结构等,重点介绍了运动控制系统的主程序、芯片初始化和端口应用、中断程序,并通过实验证实了所研制的DSP控制的移动机器人能够满足运动控制要求.%A mobile robot is developed,which contains a chassis and a body with two swing arms in two degree of freedom (2-DOF) and a 2-DOF head,and the motion control of the robot was implemented by using digital signal processor (DSP) as the core control chip.The overall framework and the software/hardware configuration of the motion control system of the robot were discussed in detail,and the control method as well as the software structure of the system was investigated.Moreover,the main program,chip initialization/port application and interrupt program were emphasized in description.Finally,an experiment was carried out.The results show that the developed DSP-based control system meets the motion control requirements of mobile robot well.