| As the unceasingly developing of the application of the embedded system , the embedded intelligent robot system has becoming a hot spot in domain of the research intelligent robot gradually. The intelligent robot that has the embedded microprocessor and real time embedded operating system which may cut out also has became a future direction of the intelligent robot.The research of the intelligent robot system involves not only the technologies in mechanics-electronics, robotics, sensor information fusion and intelligent control, but also in communication, computer vision, computer graphics, artificial intelligence and other domains.In this paper is given the exhaustive research to the embedded intelligent robot system and its motion control system which is based on the DSP+CPLD technologies and we do research on the MT-R that is developed by Shanghai YingJiSi Ltd as the hardware realization platform. How to choose the embedded microprocessor and operating system is presented contrast analysis. Secondly this paper has given the realization plan for the system communication is based on the CAN Bus. Thirdly we have presented the structure of the motion control system and introduced the single neuron PID algorithm. At last the motion control demo program has been complied. |
