摘要
介绍了一种基于DSP F2812的飞机蒙皮检测机器人的控制和感知总体结构。机器人控制系统包括移动模块:吸附模块、感知系统和无线通讯模块4个模块。从控制系统的软件和硬件对各个模块进行设计,并根据各个模块之间的联系,建立机器人的控制系统,机器人的感知系统监控机器人的运行,并通过地面主控制机远程控制机器人。通过模块间的实验和蒙皮图像检测实验验证了检测机器人设计方案的可行性和有效性。
The control and perceptual system of a climbing robot based on DSP F2812 chip for aircraft skin inspection are studied systematically in the present work. Four modules including moving module, adhesion module, perception system and wireless communication are developed in the control system. Design of software and hardware for each module is carried out, and the control system is established based on the functions of each module. The operation of the robot, on the other hand, is monitored through perceptual system. The robot is controlled by the master computer with remote control system. Finally, the experiments, for the control modules and the aircraft skin inspection are carried out to demonstrate the effectiveness of the technology.
出处
《控制工程》
CSCD
北大核心
2012年第3期502-506,518,共6页
Control Engineering of China
基金
Support by 2010 Jiang Su Scientific Support(Industry)Programs(BE2010190)
关键词
控制系统
感知系统
爬壁机器人
control system
perception system
climbing robot
