| 移动机器人的嵌入式控制系统 |
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| 引用本文： | 丁文武,王田苗,丑武胜.移动机器人的嵌入式控制系统[J].上海交通大学学报,2008(Z1). |
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| 作者姓名： | 丁文武 王田苗 丑武胜 |
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| 作者单位： | 北京航空航天大学机器人研究所 |
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| 摘 要： | 基于ARM处理器和MEMS器件设计了移动焊接机器人控制和导航定位系统,给出了陀螺仪、加速度计外围电路和相应AD采集模块设计方法,以及捷联式惯性导航系统位置和姿态解算方法.仿真实验结果表明,该导航定位系统能正确给出移动焊接机器人的位置、姿态信息.
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| 关 键 词： | 移动焊接机器人 位姿控制 MEMS器件 惯性导航系统 |
An Embedded Control System for Mobile Robot |
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| DING Wen-wu,WANG Tian-miao,CHOU Wu-sheng.An Embedded Control System for Mobile Robot[J].Journal of Shanghai Jiaotong University,2008(Z1). |
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| Authors: | DING Wen-wu WANG Tian-miao CHOU Wu-sheng |
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| Abstract: | The control system and the navigation positioning system based on ARM processor and MEMS devices were designed for welding mobile robot.The peripheral circuit of the gyroscopes and accelerometers and the corresponding AD sampling module were specifically described.The solving method of position and pose in a strap-on inertial navigation system was also described.The simulation results show that this navigation positioning system can accurately give the position and pose of welding mobile robot. |
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| Keywords: | welding mobile robot position and pose control MEMS devices inertial navigation systems(INS) |
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