文档介绍：摘要
娱乐机器人作为机器人的一个重要分支,已经发展为一种产业。舞蹈机器人是娱乐机器人的一种,它集软件和硬件于一身,而控制系统是机器人的核心,在机器人中发挥着重要的作用。
本文针对舞蹈机器人控制系统的设计过程,主要研究其硬件电路设计、软件程序设计和关键算法。
在分析了机器人性能要求和相关控制方法的基础上,提出了基于上下位机的控制结构,通过无线通信方式传输数据和指令,从而实现机器人的遥控。
硬件设计过程中,以提高集成度、减小体积、提高性价比为设计原则,将各部分电路按照功能划分。利用无线通讯模块,实现上下位机之间的远程通信;通过端口扩展,解决I/0资源紧张问题:采用CPLD对机器人驱动轮的脉冲进行反馈检测,并加上四倍频环节,提高了检测精度;
软件设计过程中,采用模块化的设计方法。在上位机设计友好的人机界面,以方便用户设置控制参数和指令,实现舞蹈动作的可视化编辑。机器人行走过程中,采取数字PID算法,通过闭环反馈控制,实现机器人行走路径的准确定位,并结合同步补偿算法,可较好的解决机器人的直线行走问题。
为了使机器人的舞蹈动作更好地表现音乐的内涵,捉出一种基于音乐特征识别的策略,在音乐特征识别的基础上结合专家系统、模糊控制等智能手段,通过舞蹈动作与音乐的自动匹配、同步演示等方法,从而最终实现舞蹈动作与音乐协调一致。
关键词:舞蹈机器人,AVR单片机,舵机控制,PID控制,音乐舞蹈协调
ABSTRACT
As an important branch of robot, Entertainment robot has e an industry. Dance robot is one of Entertainment robot, including hardware and software. The control system is the core of the robot and plays an important role in the robot system.
This thesis aims at the design process of the dance robot' s control system, mainly study hardware design、software develop and key arithmetic.
On the base of analyzing the performance requirement and related control methods, we put forward a structure based on master-slaver control method, using munication to transfer data and instruction between the master controller and the slaver controller, thus realizing the goal of remote control.
When designing the hardware structure, we divide the whole system into several functional modules based on the principle of improving integration. Reducing volume and improving the rate of performance vs. cost. municating module was used to control the robot by long-distance. By expanding the output port solves the problem of I/O resource shortage. In order to realize the goal of closed-loop control of robot, we make use of CPLD to examine the velocity of the robot's wheels drived by DCmotors, and add four-multiple cell to increase the precision.
When developing the software programmer, we adopt the method of modulization design to make the programmer pact and easier to read. On the master