Title :
Design of the Motion Controller of the Soccer Robot
Author :
Qi, Tian ; Guoliang, Zhang ; Haitao, Song ; Guangming, Jin
Author_Institution :
Second Artillery Eng. Coll., Xi´´an
Abstract :
Described a bottom motion controller framed by ARM embedded chip S3C44B0X used as main chip, MCX314 used as driving chip. Used a fuzzy self-adoption PID control arithmetic to accomplish closed loop control. The result showed that as the bottom motion controller of Robocup middle-size robot the controller achieved the request of velocity and locational precision.
Keywords :
closed loop systems; control system synthesis; intelligent robots; microprocessor chips; mobile robots; motion control; three-term control; ARM embedded chip; MCX314 chip; S3C44B0X chip; closed loop control; driving chip; fuzzy self-adoption PID control arithmetic; motion controller design; robocup middle-size robot; soccer robot; Counting circuits; Driver circuits; Instruments; Intelligent robots; Mobile robots; Motion control; Motion measurement; Robot control; Servomotors; Velocity control; ARM; PID; Robocup; motion control;
Conference_Titel :
Electronic Measurement and Instruments, 2007. ICEMI '07. 8th International Conference on
Conference_Location :
Xi´an
Print_ISBN :
978-1-4244-1136-8
Electronic_ISBN :
978-1-4244-1136-8
DOI :
10.1109/ICEMI.2007.4350545
