Research And Implementation Of The Key Technology Of The Hexapod Bionic Robot Based On UCOS-?

With the rapid development of robot technology,a variety of bionic robots have been studied and manufactured,and widely used in all walks of life of human society.Yet,due to its rapid development,leading to the robot system updates generation gap between old and new technology.During the study of the robot,found that when the hexapod bionic robot control system is a bare-metal system.It does not have the ability to deal with multi task scheduling,unable to meet the needs of users on the robot stronger performance.In order to solve this problem,this paper from two aspects of control system and application task program together to achieve the hexapod bionic robot in performance improvement.In this paper,specific work is as follows:First of all,based on the further study of the hexapod bionic about robot hardware and software structure,we declared uCOS-? embedded system to improve the performance of the robot control system to about the condition of the bare machine control for robots,and successfully migrated uCOS-? system on STC12C5A60S2 microchip of the robot.Second,in the consideration of the performance improvement effect,which the uCOS-? system brings to the robot.The key technical problems are analyzed and solved in real-time and scalability of the robot.Thirdly,considering from that,the application software can improve the performance of the robot system.Detailed multitasking applications are dsigned and successfully downloaded to the hexapod bionic robot.Finally,through the test of the hexapod bionic robot,such as motion function and ultrasonic detection function,the test results show that the hexapod bionic robot can complete position reset,walking straight,turning,obstacle avoidance,and other functions,to achieve the desired requirements.At the same time,the test results show that compared with bare-metal control situation,uCOS-? system of the hexapod bionic robot improved of reliability and real-time performance.