四足机器人控制系统设计及其仿真

北京理工大学珠海学院 2020 届本科生毕业设计四足机器人控制系统设计及其仿真四足机器人控制系统设计及其仿真摘 要 本次设计课题为基于 STM32 单片机的优秀性能对四足机器人进行控制系统设计与编程，设计中STM32 单片机是核心部分。目的是一个能将目的动作通过 STM32 单片机作为控制系统将编写代码转输出为电信号，再由这些电信号对四足机器人上的配电板连接的电机进行控制，由此达到机械腿上的电机能按照预定工作时间段进行工作，驱使连接四足机器人腿上的连轴杆正常转动。连接连轴杆上的电调驱动机械腿上的电机按照规定转动相应角度，达到机械腿按目标轨迹行走的目的。与 STM32 单片机相连的还有陀螺仪，陀螺仪会根据自身内部的三个定位基准轴对四足机器人自身目前与水平定位偏差进行反馈，它反馈给单片机后再由控制系统对相应电机进行调节达到修补偏差的目的。关键字：腿式机器人、STM32 单片机、电调、陀螺仪； 北京理工大学珠海学院 2020 届本科生毕业设计 Design and Simulation of the Control System of Quadruped Robot Abstract This design project is based on the excellent performance of the STM32 microcontroller to design and program the control system of the quadruped robot. The STM32 microcontroller is the core part in the design. The purpose is to be able to use the STM32 microcontroller as a control system to convert the written code into electrical signals, and then use these electrical signals to control the motor connected to the power distribution board on the quadruped robot, thereby reaching the motor on the mechanical leg It can work according to the predetermined working time period, and drive the connecting rod on the leg of the quadruped robot to rotate normally. The ESC connected to the connecting rod drives the motor on the mechanical leg to rotate the corresponding angle according to the regulations to achieve the purpose of the mechanical leg walking according to the target trajectory. There is also a gyroscope connected to the STM32...