This paper briefly describes the basic structures of robot systems, and then: (I) presents the control system scheme for the Mobil robot vehicle, (2) builds the kinematics model for the vehicle, (3) 9ires the al9orithm of trajectory planning, and (4) designs and develops the hardware (computer system and servo control system) and software of the control system for the vehicle. The control system structure is hierarchically arranged. At the higher level is the IBM-PC/AT computer, which performs three major functions: (1) The on-line interaction with the user, (2) Coordinate systems transformations, and (3) Motion trajectory planning, this involves sending desired position to the lower level. At the lower level is the single-chip computer, which receives desired position from the PC/AT and performs servocontrol.
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