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针对一种小型的双足爬壁机器人,设计开发了基于DSP2812处理芯片的控制系统.该机器人系统采用双足真空吸盘式结构和用3个电机驱动5个关节的欠驱动结构.双足真空吸盘式结构使其可以在光滑的墙面和天棚行走,又能够在交接面之间完成跨步行走.而欠驱动结构减少了电机的数目,从而减小了机器人的尺寸和降低了机器人的质量和能量消耗,但它也给机器人的控制和运动规划带来了新的挑战.已完成的系统设计包括运动模式设计、关节控制、通信模块设计和吸盘足控制等.实验结果证明了所提出方案的可行性.
Aiming at a small biped climbing robot, a control system based on DSP2812 chip was designed and developed.The bi-polar vacuum chuck structure and the underactuated structure of 5 joints driven by 3 motors are used in this robot system.The double-foot vacuum chuck The structure makes it possible to walk on smooth walls and ceilings and to walk across the interface, while the underdrive structure reduces the number of motors, reducing the size of the robot and lowering the robot’s mass and But it also poses new challenges to robotics control and motion planning.The completed system design includes motion pattern design, joint control, communication module design, sucker foot control, etc. The experimental results show that the proposed scheme feasibility.