履带式机器人控制系统设计

根据研制的履带式机器人的结构特点和性能要求，设计了基于ARM DSP双核架构的控制系统。选用STM32F103VET6来完成电机的控制，采用TMS320DM642来完成图像的采集与处理，两芯片间采用I2C总线通信，通过无线网桥实现与上位机的通信。设计了对应的硬件系统和软件系统，并进行了实物样机调试实验， 实验结果表明，设计的控制系统工作性能稳定，通信可靠，动态响应性能良好，能够很好地满足履带式机器人的运动控制要求。

Design of a Control System for Crawler Robot

According to the structural characteristics and performance requirements of the crawler robot, we designed a control system based on ARM DSP dual-core architecture. Selection STM32F103VET6 to complete motor control, using TMS320DM642 to complete the image acquisition and processing, two inter-chip communicate through I2C bus, while via wireless bridge communicate with the host computer. Designed the corresponding hardware and software systems, and conducted physical testing experiments. Experimental results show that the control system has stable working performance, reliable communication and fast dynamic response performance, and it can satisfy the motion control requirements of the crawler robot well.