【正文】 ..................................................................................................................................11第三章 六足仿生機器人的步態(tài)分析和設(shè)計 ............................................................................................................11 六足步行機器人坐標定義 ...............................................................................................................................12 六足機器人的穩(wěn)定性分析 ...............................................................................................................................14 穩(wěn)定性分析 ..............................................................................................................................................14 穩(wěn)定裕量計算 ...........................................................................................................................................14 六足仿生機器人的直線運動步態(tài)設(shè)計 ...........................................................................................................16 步態(tài)規(guī)劃 ...................................................................................................................................................16 步態(tài)動作分析 ...........................................................................................................................................163. 5“三角步態(tài)”定點轉(zhuǎn)彎步態(tài)設(shè)計 ...................................................................................................................19 本章小結(jié) ...........................................................................................................................................................21第四章 六足仿生機器人的控制系統(tǒng)設(shè)計 ................................................................................................................22 功能分解 ...........................................................................................................................................................22 控制系統(tǒng)的硬件設(shè)計 .......................................................................................................................................23 微處理器 AT89S52 簡介 ...........................................................................................................................23 舵機模塊設(shè)計 ..........................................................................................................................................24 避障模塊設(shè)計 ..........................................................................................................................................25 控制系統(tǒng)軟件設(shè)計 ...........................................................................................................................................27 單個舵機控制方法 ...................................................................................................................................28 多舵機控制 ...............................................................................................................................................32 六足仿生機器人全方位步態(tài)程序設(shè)計 ...................................................................................................37II 軟件的抗干擾及可靠性設(shè)計 ...........................................................................................................................40 本章小結(jié) ...........................................................................................................................................................41第五章 軟硬件聯(lián)調(diào) ....................................................................................................................................................42 KEIL C51 開發(fā)系統(tǒng)基本知識 ...........................................................................................................................42 PROTEUS 仿真軟件基本知識 ............................................................................................................................42 Proteus 介紹 ...........................................................................................................................................42 Proteus 的仿真 .......................................................................................................................................43 Proteus PCB............................................................................................................................................43 調(diào)試結(jié)果 ...........................................................................................................................................................43 相關(guān)數(shù)值測試 ...................................................................................................................................................44 本章小結(jié) ...........................................................................................................................................................45第六章 結(jié)束語 ............................................................................................................................................................46 論文總結(jié) ...........................................................................................................................................................46 論文寫作的感想 ...............................................................................................................................................46 本章小結(jié) ...........................................................................................................................................................46參考文獻 ......................................................................................................................................................................47致謝辭 ..........................................................................................................................................................................48III插表清單表 11機器人Fred Delyn的參數(shù)……………………….……………………..………..…6表 21 本設(shè)計機器人相關(guān)參數(shù)………………………………….…………….….…..………9表 41 I/O引腳分配表……………………………………………………….…………..……23表 42 時基脈沖與舵機角度對應(yīng)表 ………………