基于AT89S52的六足机器人运动控制器的设计
Design of Hexapod Robot Movement Controller Based on AT89S52
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摘要: 文章应用AT89S52内部的2个定时器,采用多舵机分时控制方法,设计了可驱动机器人足部12个舵机协调运动的控制器;按照六足机器人典型行走步态,实现了六足机器人按步态规划运动。测试结果验证了该设计方案的正确性和可靠性。 更多还原Abstract: Based on 2 inter-timers of AT89S52 and multi-rudder time slicing control method,a movement controller was designed, which could drive 12 rudders to coordinately work.According to typical walking gaits of hexapod robot, it was realized that movement of the hexapod robot accords with the gait layout. Testing result verified reliability and correctness of the designed scheme.
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Key words:
- hexapod robot /
- movement controller /
- rudder /
- time slicing control /
- gait /
- AT89S52
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