Based On Atmega8515l Dance Robot Control System Design And Research

As an important branch of robot, Entertainment robot has become an industry . Dance robot is one of Entertainment robot, including hardware and software. The control system is the core of the robot and plays an important role in the robot system.This thesis aims at the design process of the dance robot' s control system, mainly study hardware design, software develop and key arithmetic.On the base of analyzing the performance requirement and related control methods, we put forward a structure based on master-slaver control method, using wireless communication to transfer data and instruction between the master controller and the slaver controller, thus realizing the goal of remote control.When designing the hardware structure, we divide the whole system into several functional modules based on the principle of improving intergration, reducing volume and improving the rate of performance vs cost. Wireless communicating module was used to control the robot by long-distance. By expanding the output port solves the problem of I/O resource shortage. In order to realize the goal of closed-loop control of robot, we make use of CPLD to examine the velocity of the robot' s wheels drived by DC motors, and add four -multiple cell to increase the precision. Using the I2C bus to expand the memory, thus meets the requirement to store large numbers of dance data.When developing the software programme, we adopt the method of modulization design to make the programme more compact and easier to read. On the master controller, we develop a windows interface so that the user can easily set the instruction and parameter , moreover the user can edit and adjust the dance data with the windows interface easily. In the course of the robot' s movement, we use the PID control method and synchronizational compensation skill to control the route of robot and solve the problem of the robot' s beeline movement.In order to make the dance action deducts the meaning of music better, we put forward a strategy of music character identification, combining with the intelligent means of expert system, fuzzy control and the method of auto- matching of dance action and music element, synchronous demo, and realize the goal of harmonization between the dance action and music in the end.