基于CPLD控制模块的智能机器人控制系统研究
2023,31(2):147-153
摘要：为提高智能机器人环境感知能力和避障能力,降低智能机器人运行中碰撞障碍物的概率,设计了一种基于CPLD控制模块的智能机器人控制系统。以CPLD控制器为核心,调整A/D模拟采集接口模块信号的连接形式,并设置与PWM寄存器相关的连接参数；给出了主机智能程序的决策流程,并适时调整PWM寄存器的整流参数,提升控制指令执行向量的匹配精度,以实现对智能机器人运动轨迹的精确控制。与传统机器人控制系统相比,基于CPLD控制模块的智能机器人能够更准确地感知外界环境的变化,精确规避障碍物。
关键词：CPLD控制模块;智能机器人;A/D模拟;PWM寄存器;避障敏感度;
Research on Intelligent Robot Control System Based on CPLD Control Module
Abstract：In order to improve the ability of environment perception and obstacle avoidance of intelligent robot, and reduce the probability of collision with obstacles during the operation of intelligent robot, an intelligent robot control system based on CPLD control module is designed. With CPLD controller as the core, adjust the connection form of A/D analog acquisition interface module signal, and set the connection parameters related to PWM registers; The decision-making flow of the host intelligent program is given, and the rectification parameters of PWM registers are adjusted timely to improve the matching accuracy of the control instruction execution vector, so as to achieve the accurate control of the intelligent robot"s motion trajectory. Compared with the traditional robot control system, the intelligent robot based on CPLD control module can more accurately perceive the changes of the external environment and accurately avoid obstacles.
Key words：CPLD control module; Intelligent robot; A / D simulation; PWM register; Obstacle avoidance sensitivity;
收稿日期：2022-11-22
基金项目：安徽省职业与成人教育学会2021年度教育教学研究规划项目（Azcj2021105）
