Robot Structure and Motion Control Design Based on UG and Proteus

DOI

説明

The paper is to design a six-degree-of-freedom biped robot by the research on the humanoid characteristics of the biped robot. Our biped robot chooses the steering gear ASMC-03B as its power unit, we restricts the model parameters by analyzing the function relationship between the steering gear torque and the volume, and regulates the size of every parts, and create a motion analysis model. In the hardware part, Arduino UNO, which is used as the main control chip, realize the communication between the main control chip and the servo drive module PAC9685 through the IIC bus protocol, which saves the main control chip resources and ensures the execution efficiency. In the simulation part, it is to simulate the steering angle of the steering gear, and output it in the form of a waveform.

収録刊行物

キーワード

詳細情報 詳細情報について

  • CRID
    1390006750773159296
  • DOI
    10.5954/icarob.2021.os12-4
  • ISSN
    21887829
  • 本文言語コード
    en
  • データソース種別
    • JaLC
    • Crossref
  • 抄録ライセンスフラグ
    使用不可

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