文档介绍：摘要
本文旨在设计一个以单片机为核心的控制器系统,实现对机器人创新套件中追光机器人的控制。
该控制器系统是以AT89S8252为核心控制芯片,扩展了必要的外围芯片构建而成。通过下载电缆下载相应的程序,一方面控制器可作为系统的控制核心工作在独立运行模式,即由传感器采集光源的位置信息,经过TLC0838转换后单片机可以独立进行处理,并将最后的处理数据结果送往机器人系统的执行机构——舵机控制系统执行;另一方面,通过USB接口芯片CH372与上位机建立通信联系,使控制器工作在PC机功能扩展板模式。在该模式下,PC机是整个系统的控制核心,而控制器只是执行数据信息采集、传送功能。
在设计过程中,考虑到可能存在的干扰对系统的影响,在系统中加入了软、硬件方面的抗干扰措施,以增强系统的抗干扰能力。另外,为适应以后可能的控制需要,设计中还留有较大的冗余量。
关键词:单片机;AT89S8252;传感器;TLC0838;舵机;USB;CH372;机器人
Abstract
This thesis aims to design a controller system with micro-controller for the core, realization of innovative robot recovery package-robot control.
This controller system take the AT89S8252 control chip as core, Formed from extending the necessary external chips. By download cable to download the appropriate procedures, While controller can be used as the core control system in the independent mode, from the light sensor acquisition of position information, after TLC0838 conversion SCM independent, and the final results sent to the data processing system of the robot executing agencies -- servo control system implementation; the other hand, through the USBCH372 munication interface with the PC establishment munication links, controller work in the PC expansion board functional model. In this mode, the PC is the core of the control system and controller performance data information collection, transmission functions.
In the design process, taking into account the possible existence of interference impacting the system, adding a soft, hardware anti-jamming measures to enhance the system's ability to resist interference. Furthermore, in order to meet possible future needs control, design also have a large amount of redundancy.
Keywords: micro-controller; AT89S8252; sensor; TLC0838;USB;CH372; servo; robot
目录
摘要 I
Abstract II
1 绪论 1
1
1
、外机器人的发展概况 2
3
5
5
5
6
2 模块化机器人控制器设计 8
8
—单片机的选型与设计 10