竞赛用搬运机器人控制优化设计研究

摘要

近年来,“中国教育机器人大赛”作为创新教育的一种新形式,在全国有了较大的发展.作为大赛用的搬运机器人是一种被广泛研究的机器人,主要实现对多个目标物体的搬运.围绕搬运机器人比赛的要求,对控制器、程序下载电路、电源模块、电机驱动电路等模块进行选择和优化,采取舵机带动机械手运动的方法来实现物料的夹取,确定了搬运机器人的总体设计方案;同时给出了搬运机器人的软件控制系统优化设计.实验测试表明优化设计的搬运机器人能更好地完成搬运任务.%Recently,"China Education Robot Competition",as a new form of innovation education,has a larger development in our country.Transfer robot is a kind of robot which is widely researched for competition.Its main purpose is multiple objects transferring.According to the requirements of transferring robot competition,controller,program download circuit,power supply module,motor drive circuit module are all selected and optimized.The material is clipped that steering gear drives the movement of manipulator,and the overall design plan of transferring robot is realized.The optimization design of transfer robot software control system is advised.The experiment is tested and verified the optimization design of transfer robot can complete the task of transferring.