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ROBOCUP中型组机器人足球赛是多个全自主机器人之间合作与对抗的一项竞赛。全自主足球机器人要完成踢球任务,需要一个高可靠性、高运动性能的运动控制系统。本文提出并研制成功基于双DSP的中型组足球机器人运动控制系统,经过反复的实验和机器人之间的比赛实战,证明该控制系统具有高可靠性、硬件电路简洁、运动快速灵活,高可控性等特点,完全可以满足中型组足球机器人的运动要求。
The ROBOCUP medium-sized group robot soccer match is a competition between multiple fully autonomous robots in cooperation and confrontation. Autonomous soccer robot to complete the task of kicking, you need a high reliability, high motion performance of the motion control system. This paper presents and develops a successful medium-sized soccer robot motion control system based on dual-DSP. After repeated experiments and actual combat between robots, it is proved that the control system has high reliability, simple hardware circuit, fast and flexible movement, high controllability And other characteristics, fully meet the medium-sized group of soccer robot movement requirements.