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摘要
本文介绍的足球机器人是中国科学技术大学为参加2003年在意大利举行的RoboCup机器人足球世界杯F-180小型组比赛而设计、制造的。为了实现在球场平面的三自由度运动，我们将足球机器人的运动机构改进设计成为三组驱动轮的形式。三组驱动轮按120 夹角分布在同一圆周上，通过三组驱动轮驱动矢量的合成实现赛场上的全自由度运动。三轮足球机器人的控制与传统的两轮足球机器人有着很大的不同。这样如何控制三组驱动轮使足球机器人在球场上准确、灵活、快速运动成为一个难题。
本文介绍了足球机器人的控制系统，包括以DSP为核心的控制电路和控制软件。本文还对足球机器人的运动学原理作了分析，对复杂的运动进行了仿真计算和优化。我们在足球机器人的底层控制软件内使用了数字PID控制算法，并根据实际情况进行了改进；在大量的实验和调试的基础上，选取了合适的控制参数，实现了对足球机器人的控制。控制精度符合上层决策控制的要求。
关键词：足球机器人，运动控制系统，运动原理，数字PID控制
Abstract
The robot soccers introduced in this dissertation are designed and manufactured by the University of Science and Technology of China to attend the F-180 League of 2003 RoboCup Games that will be hold in Italy in 2003. .For realizing the motion of three Degree-Of-Freedom in the flat ,we design the robots with three driving wheels .These wheels are arranged at intervals of 120 angles in a circle .The speed vectors of the there driving wheels resultants the speed vector of the robot .The method of controlling the three-wheels robot differs a lot from the method of controlling the two-wheels robot .Thus how to control the three-wheels robot and make the motion accurate、fast and agile becomes a great defy.
This dissertation introduced the control system of the robot, including the hardware and software , the core of which is a Digital Signal Processor. This dissertation made the analysis of Kinematics principle, calculated and optimized the plan of complicated motions. Digital PID control was used in the control and was improved accor无忧论文 【http://www.uklunwen.com】ding to the actual circumstanced . Based on a lot of experiments and adjusting ,we selected the appropriate parameters and successfully realized the control of the robot soccer. The position precision of the controlled motion measured up to the required position precision.
Keywords: Robot soccer, Motion control system, Kinematics principle, Digital PID control
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