全向移动机器人运动控制系统的研究与实现

利用数字信号处理器为核心控制芯片，以足球机器人为应用对象，进行了三轴全向移动机器人运动控制系统的设计与实现。通过运动学分析，对平移、原地旋转、边平移边转身3种运动方式进行了研究和建模；采用上位机、无线模块、DSP控制模块、指南针等硬件设备搭建硬件系统，实现了各种运动模式。经联机调试，系统运动灵活，定位和姿态精确，可为其他全向移动平台的设计提供理论与实践的借鉴，也可为控制算法的研究提供硬件条件。

RESEARCH AND IMPLEMENTATION OF MOTION CONTROLSYSTEM FOR THE OMNI-DIRECTIONAL MOBILE ROBOTS

Digital signal processor （DSP） is used as core control chip, for the triaxial omni-directional mobile robot is designed and realized taking the soccer robot as the object, a motion control system Based on the kinematical analysis, modeling and studying of three basic motion modes are developed, the main motion type is moving, rotating, moving and rotating at the same time. The hardware system is built with upper computer, wireless module, DSP control modules, compass, etc. It realizes each of motion models. After debugging, the system runs flexibility and has the advantages of accurate positioning. It can give useful guidance of the theory and practice on design of other omni-directional mobile system. And it also provides a hardware platform for researching control algorithm.