摘要
机器人运动控制系统中为了提高小车高速运动时轨迹跟踪的准确性,设计了一种具有惯性传感装置的四轮全向驱动小车。运动控制系统处理器采用TMS320F2812型双数字信号处理器(DSP)芯片,小车的惯性传感装置由MENS加速度传感器、电子罗盘和陀螺仪组成,成本低廉工作可靠。
In order to improve the accuracy of trajectory tracking in the car moving at high speed for robot motion control system, a design of four wheels omni-directional mobile vehicle with inertial sensing device is given. This article describes the motion control system processor to use the TMS320 F2812-type dual-DSP chip. The vehicloe inertial sensing device is composed by MENSacceleration sensor, electronic compass and gyroscope, with a low-cost and reliable work.
出处
《上海电气技术》
2012年第3期18-22,共5页
Journal of Shanghai Electric Technology
关键词
运动控制
四轮全向驱动小车
双数字信号处理器
TMSF
惯性传感
motion control
omni-directional mobile vehicle with four wheels
double Digital Signal Processon(DSP)
TMS320F2812
inertial sensing device
