毕业设计-基于单片机的舞蹈机器人控制系统设计

河南科技学院2014届本科毕业论文（设计）基于单片机的舞蹈机器人控制系统设计学生姓名：所在院系：机电学院所学专业：电气工程及其自动化导师姓名：完成时间：2014年5月24日基于单片机的舞蹈机器人控制系统设计摘要机器人是典型的机电一体化装置，它综合运用了机械与精密机械、微电子与计算机、自动控制与驱动、传感器与信息处理以及人工智能等多学科的最新研究成果，随着经济的发展和各行各业对自动化程度要求的提高，机器人技术得到了迅速发展，出现了各种各样的机器人产品，本文介绍的就是其中的舞蹈机器人。舞蹈机器人的设计，首先通过对人类动作的深入了解，分析人类的动作特性，确定机器人的基本构成并选择合适的机械构造，本设计舞蹈机器人采用钢材结构，用舵机充当机器人关节，可实现类人结构。并且与控制对象跳舞机器人的工作原理、动作过程进行比较，从而选择出组装机器人的造型，文中并分析机器人动作的局限性与优势。同时本毕业设计介绍了基于AT89C51单片机的舞蹈机器人控制系统的设计，包括硬件部分和软件部分。硬件部分介绍了舞蹈机器人控制系统的各模块，包括电源模块、单片机及外围接口电路模块、存储模块、串行通信模块、电机驱动控制模块及防碰撞模块六大部分；软件部分包括设定机器人的舞蹈动作程序。详细阐述了系统的硬件实现方案和软件设计思想。根据要求舞蹈机器人控制系统采用分时复用的方法，利用PWM信号对驱动电机进行控制，用以完成作品设计。关键词：单片机，PWM信号，舞蹈机器人，舵机，直流电机MICROCONTROLLER-BASEDROBOTCONTROLSYSTEMDESIGNDANCEAbstractRobotisatypicalmechatronicdevice,whichcombinestheuseofthelatestresearchmachineryandprecisionmachinery,microelectronicsandcomputer,automaticcontrolanddrive,sensorsandinformationprocessing,andartificialintelligence,multi-disciplinary,withtheeconomicdevelopmentandthelineseachindustrytoraisetherequireddegreeofautomation,roboticstechnologyhasbeendevelopingrapidly,therehasbeenawiderangeofroboticproductsdescribedinthisarticleisoneofthedancingrobot.Designdancingrobot,firstthroughin-depthunderstandingofhumanaction,humanoperatingcharacteristicsanalysistodeterminethebasicstructureoftherobotandselecttheappropriatemechanicalconstruction,thedesignofsteelstructuresusingrobotdance,actasarobotwithasteeringjoint,enablingtheclasshumanstructure.Anddancingrobotcontrolobjectworks,thecourseofactionarecomparedtoselecttheshapeoftheassemblyrobot,thepaperanalyzedthelimitationsandadvantagesofrobotaction.Meanwhile,thegraduationprojectpresentationbasedonAT89C51dancerobotcontrolsystemdesign,includinghardwareandsoftwarecomponents.Hardwaresectiondescribesthevariousmodulesdancingrobotcontrolsystem,includingthepowersupplymodule,microcontrollerandperipheralinterfacecircuitmodule,memorymodule,serialcommunicationmodule,motordrivecontrolmoduleandanti-collisionmodulesixparts;Softwareincludessettingtherobotdanceprogram.Elaboratedhardwareimplementationsandsoftwaredesign.DancingrobotcontrolsystemaccordingtotherequirementsusingtimedivisionmultiplexingmethodusingPWMcontrolsignaltothedrivemotor,designedtocompletethework.Keywords:microcontroller,PWMsignal,dancingrobot,steering,DC目录1绪论............................................................................................................................12方案论证取优及控制系统设计................................................................................12.1设计功能要求.................................................................................................12.2方案论证取优.................................................................................................22.3自由度的分配.................................................................................................22.4电机的选择.....................................................................................................42.5舞蹈机器人的机械部件.................................................................................52.6系统设计方案分析.........................................................................................53系统硬件选型............................................................................................................63.1单片机可编程控制器部分.............................................................................63.1.1单片机概述..........................................................................................63.1.2单片机选型..........................................................................................63.2电源模块.........................................................................................................73.3串行通信模块.................................................................................................73.4存储模块.........................................................................................................83.5电机驱动控制模块.........................................................................................83.5.1舵机的驱动控制模块..........................................................................83.6防碰撞模块...................................................................................................124控制系统软件设计..................................................................................................124.1主程序...........................................................................................................134.2定时器中断服务子程序...............................................................................134.3串行中断服务子程序...................................................................................144.4外部中断服务子程序...................................................................................145结论..........................................................................................................................15参考文献......................................................................................................................16附录................................................................................................