【正文】 1 本科畢業(yè)設(shè)計(jì)（論文） 提高機(jī)器人行走速度的研究 攀枝花學(xué)院本科畢業(yè)設(shè)計(jì)（論文） 摘 要 I 摘 要 機(jī)器人是作為現(xiàn)代高新技術(shù)的重要象征和發(fā)展結(jié)果，已經(jīng)廣泛應(yīng)用于國民生產(chǎn)的各個(gè)領(lǐng)域，并正在給人類傳統(tǒng)的生產(chǎn)模式帶來革命性的變化，影響著人們生活的方方面面。 本文對目標(biāo)機(jī)器人建立了完整的競走比賽環(huán)境，使機(jī)器人能在平面上實(shí)現(xiàn)穩(wěn)定的動(dòng)態(tài)行走。并且對模型的可靠性和實(shí)用性進(jìn)行了仿真計(jì)算，結(jié)果證實(shí)了文中模型的合理性和可行性。為了更好的看到機(jī)器人競走速度提升的效果，文章采用了類似于場地自行車追逐賽的比賽方式，這樣就能在兩個(gè)機(jī)器人的相互追逐中的速度對比發(fā)現(xiàn)目標(biāo)機(jī)器提速的效果。 在機(jī)器人的控制問題上，本文采用 差動(dòng)裝置來控制該機(jī)器人的運(yùn)動(dòng) ,由該機(jī)器人的兩個(gè)驅(qū)動(dòng)輪不同的運(yùn)動(dòng)狀態(tài)來達(dá)到控制機(jī)器人的目的。 通過傳感器對地面灰點(diǎn)的感應(yīng)，傳回?cái)?shù)據(jù)，根據(jù)需要自動(dòng)轉(zhuǎn)向行動(dòng)的控制方法。具體措施是在機(jī)器人前段安裝兩個(gè)傳感器，通過這兩個(gè)傳感器傳回的數(shù)據(jù)對兩個(gè)驅(qū)動(dòng)輪的控制，轉(zhuǎn)而達(dá)到對機(jī)器人的控制。 關(guān)鍵詞 機(jī)器人，競走速度，傳感器，機(jī)器人控制 攀枝花學(xué)院本科畢業(yè)設(shè)計(jì)（論文） ABSTRACT II ABSTRACT The robot is as an important symbol of the modern new and high technology and development result, has been widely applied in various fields of national production, and is to the human the traditional production pattern brings revolutionary change, affect all aspects of people39。s lives. The objective of this robot is the establishment of a plete race walking environment, so that the robot can achieve stable dynamic walking on the model reliability and practicability are calculated, results confirmed the rationality of the model and order to better see the robot walking speed to enhance the effect, this paper adopts similar to track cycling race game, so in two the robot mutual chase the speed parison shows that the target machine speed effect. In the robot control problem, this paper adopts a differential device to control the movement of the robot, the robot from the two driving wheels of different state of motion to control the robot the sensor to the ground point grey induction, return data, according to the need of automatic steering action control measures in the robot segment installation two sensor, through the two sensor data from the two driving wheels control, to achieve control of robot. Key words Robot， Walking speed， Sensor， Robot control 攀枝花學(xué)院本科畢業(yè)設(shè)計(jì)（論文） 目錄 III 目 錄 摘 要 ................................................................................................................................Ⅰ ABSTRACT ..................................................................................................................... Ⅱ 1 緒論 .......................................................................................................................... 1 前言 ................................................................................................................... 1 雙足步行機(jī)器人的意義 ...................................................................................... 2 .................................................................................... 2 ................................................................................ 2 ......................................................................... 3 生物科學(xué)、仿生工程學(xué)的研究需要 ........................................................... 3 雙足機(jī)器人的應(yīng)用場所 ............................................................................ 3 機(jī)器人技術(shù)研究熱點(diǎn) ................................................................................ 4 國外機(jī)器人研究狀況 ................................................................................ 4 國內(nèi)雙足機(jī)器人研究狀況 ......................................................................... 6 ......................................................................... 7 ............................................................................. 7 本課題研究的意義 ............................................................................................. 9 2 能力暴風(fēng)機(jī)器人開發(fā)環(huán)境簡介 ........................................................................... 10 ................................................................................................................. 10 主要功能 ........................................................................... 11 ............................................................................. 11 ................................................................................ 11 3 設(shè)計(jì)思路及比賽環(huán)境的建立 ............................................................................... 12 設(shè)計(jì)思路 .......................................................................................................... 12 ................................................................................................ 12 ................................................................................................ 12 參數(shù)設(shè)定 ............................................................................................... 13 ................................................................................................ 14 4 機(jī)器人控制編程與比賽建立 ............................................................................... 18 機(jī)器人控制方案 ............................................................................................... 18 ....................................................................................................... 18 代碼編輯 .......................................................................................................... 21 賽的建立 ....................................................................................................... 21 ................................................................................................ 22 ......................................................................................... 23 ............................................................................................ 23 機(jī)器人起 始位置設(shè)定 .............................................................................. 24 小結(jié) ...................................................................