Flipper履带机器人控制器设计与pwm直流电机仿真

2019 IEEE 11th International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment, and Management ( HNICEM ) Pub Date : 2019-11-01 DOI:10.1109/HNICEM48295.2019.9072736

Cyrus Lawrence C. Bual, Rachel D. Cunanan, R. Bedruz, A. Bandala, R. R. Vicerra, E. Dadios

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引用次数: 3

摘要

蹼足履带机器人等履带式移动机器人的发展，提高了其在城市环境和崎岖地形中克服更多挑战的能力和能力。此外，鳍状肢是它在处理这种情况时的支持。鳍状履带机器人的结构是在传统双履带移动机器人如双履带和四履带机器人的基础上扩展而来的。然后，本研究旨在为改进后的鳍足履带机器人创建专用控制器。相应地，目标仪器，显示器和模拟控制被确定为熟练监控机器人状态，同时做其预期的功能。然后利用Proteus 8 Professional仿真软件，将Arduino UNO控制器作为主MCU, 16x2 LCD，模拟电阻器模拟操纵杆，用于串行打印监控的虚拟终端进行准确的连接和布线。建立了9级速度电平，并与鳍形履带机器人精细运动所需的PWM输出和Arduino IDE的地图功能并联，用于对两个鳍形臂的伺服电机进行度操作。最后，将仿真结果显示在LCD上，符合所建立的九速级逻辑条件以及鳍状履带机器人的状态运动。验证并展示了控制器的功能和可行性。

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Design of Controller and PWM-enabled DC Motor Simulation using Proteus 8 for Flipper Track Robot

The developed tracked mobile robot such as flipper track robot increases its ability and capability in overcoming more challenges in urban environment context and rough terrains. In addition, flippers are its support in dealing with this circumstances. The configuration of flipper tracked robots came from the extended version of conventional two-tracked mobile robot such as two and four-tracked robots. Then, the study aims to create a dedicated controller for the modified flipper track robot. Correspondingly, the target instruments, display and analog control are identified for adept monitoring of the robot status while doing its intended function. Afterwards, using Proteus 8 Professional simulation software, the Arduino UNO controller as main MCU, 16x2 LCD, analog joysticks in terms of analog resistors, and virtual terminal for serial print monitoring are attached and wired accurately. The nine speed level is established and paralleled to the required PWM output for the fine movement of flipper track robot and also the map function of Arduino IDE for degree manipulation of servo motor of two flipper arms. Finally, the results are shown in LCD which matches the established logical conditions of nine speed level as well as the status movement of the flipper track robot. The functionality and feasibility of the controller is verified and exhibited.

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来源期刊

2019 IEEE 11th International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment, and Management ( HNICEM )

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