Research And Design Of Dancing Robot Control System

Seen from the development trend of robot, intelligent service robot, which has close relation to human life, is playing a more and more significant role in various fields. Simultaneously, many countries are aware of its bright future and lots of scientists are striving to make it available. As the embryo of intelligent service robot, dancing robot has provided not only an ideal experimental environment in robotics, control theories, electromechanical integration and many other correlative disciplines but also quotable experiences for further study of intelligent service robot.This thesis developed a biped dancing robot with 15 DOF independently which consists of leg joint, ankle joint, crotch joint, waist joint, shoulder joint, elbow joint, neck joint and so on. This robot's control system is divided into hardware and software system. A graceful dancing gesture can be created by the 15 motors' synchronized actions. Movement debugging is an extremely fussy process, so dynamic debugging software is developed. This software is used to arrange dance movements, and then transfer corresponding movements' data to SCM. In this way, the design and debugging of dance movements can be curtailed to the utmost extent.Firstly, this thesis makes a brief introduction of the domestic and foreign development of intelligent service robot other than the trend of its basic technologies. And then, my main work is brought forward.In the next place, the control system is developed according to the function requirements of the dancing robot. And the design process of the dynamic debugging software and SCM software system is discussed in detail. The dynamic debugging software includes user interface and background service program. And the SCM software system is composed of main program, serial interrupt service program, data transform subprogram, timer interrupt service program and pulse output subprogram. Primarily, this thesis researches two methods to control steering gears which are used to simulate the joints of the dancing robot. One is ordinal pulse method, and the other one is pulse width difference method. The latter is improved by the former. Ordinal pulse method is based on the electrocircuit with the kernel chip of AT89C52. And pulse width difference method is carried out by the electrocircuit with the kernel chip of SPCE061A produced by SUNPLUS.Finally, the dancing robot is evaluated. The success and failure is pointed out and...