四足机器人控制系统设计及其仿真

北京理工大学珠海学院2020届本科生毕业设计Design and Simulation of the Control System of Quadruped RobotAbstractThis design project is based on the excellent performance of the STM32 microcontroller to design andprogram the control system of the quadruped robot.The STM32 microcontroller is the core part in the design.The purpose is to be able to use the STM32 microcontroller as a control system to convert the written codeinto electrical signals,and then use these electrical signals to control the motor connected to the powerdistribution board on the quadruped robot,thereby reaching the motor on the mechanical leg It can workaccording to the predetermined working time period,and drive the connecting rod on the leg of thequadruped robot to rotate normally.The ESC connected to the connecting rod drives the motor on themechanical leg to rotate the corresponding angle according to the regulations to achieve the purpose of themechanical leg walking according to the target trajectory.There is also a gyroscope connected to the STM32single-chip microcomputer.The gyroscope will feedback the current positioning deviation of the quadrupedrobot according to its three internal positioning reference axes.After the feedback to the single-chipmicrocomputer,the control system will adjust the corresponding motor The purpose of patching deviations.Keywords:Leg robot,STM32 microcontroller,ESC,gyroscope:2