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本文提出了一种新型水下小型爬行视频检测机器人的设计方案，重点解决了结构设计中有关密封方式、电机驱动选型、小型化等问题。在控制方面从轮式爬行移动机器人(WMR)的体系结构出发，重点设计了机器人移动控制系统的硬件、软件平台。
- In view of the Architecture of Wheeled Mobile Robot, this paper emphasizes on the design of hardware and software platform based on control system.Firstly, A
whole control model is given after analyzing the wheeled structure with nonholonomic constraints and the model of DC servo-motor building. Secondly, We develop a motion control system using AT90S8515 microcontroller.
- In view of the Architecture of Wheeled Mobile Robot, this paper emphasizes on the design of hardware and software platform based on control system.Firstly, A
whole control model is given after analyzing the wheeled structure with nonholonomic constraints and the model of DC servo-motor building. Secondly, We develop a motion control system using AT90S8515 microcontroller.
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移动式视频监测装置的设计与运动控制的研究.nh