机械制造与自动化Issue(5)：150-153,161,5.
基于STM32的六足机器人控制系统设计
Control System Design of Hexapod Robot Based on STM32F103VET6
伍立春 1王茂森 1黄顺斌1
作者信息
- 1. 南京理工大学 机械工程学院，江苏 南京210016
- 折叠
摘要
Abstract
this paper describes the fabrication of a hexapod bionic robot which is control ed by STM32F103VET6 microprocessor and walks based on bionic principle. In its control system based on wireless remoter, 18-channel PWM wave generated by the timers STM32F103VE76, is used to control robot’ s legs, and the USART of STM32F103VET6 is used to display the output data of GPS, ul-trasonic sensor, accelerometer, gyroscope.This robot is provided with some abilities, such as linear walking, turning, avoiding barri-ers walking etc. The experiments show that free motion control of 18 joints is smooth, the smarter and smal er control system can be used to control complex walking movement precisely and its ground walking objective is atlained..关键词
STM32F103VET6/六足机器人/无线遥控/控制系统Key words
STM32F103VET6/hexaped robot/wireless remoter/control system分类
信息技术与安全科学引用本文复制引用
伍立春,王茂森,黄顺斌..基于STM32的六足机器人控制系统设计[J].机械制造与自动化,2014,(5):150-153,161,5.
