Humanoid robot control programs based on 51 single
2016-08-23
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Because of the humanoid robot has a complex structure, with 17 servo motors (servos). So you need to control more objects. We distributed lumping control approach, as an independent control of each servo motor and control them with 1 main CPU. Communication mode: since each actuator using PWM control format details see "steering gear details", so the main CUP also uses the PWM communication format. Main CPU through 17 signal cable connecting 17 servos respectively, send control information to each servo. Information in point format, the PWM signals across the rudder's angle, by sending location data to the servo for speed in real time. Distribution of humanoid robot servos: humanoid robot servos installed in different locations, played by use is different. Grouped according to the structure of the jiatengyilang, the rudder 16 distributed in 2 planes of the body. Z-plane and p in the plane, then we just divided as follows.
asm
单片机
机器人
程序
基于
遥控
人形
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