利用舵机制作简易机器人.doc

本科学年论文简易人形机器人的设计院 系 电子信息工程学院自动化系专业名称 自 动 化 年 级 2008 级 学生姓名 魏 杰 学 号 00824031 指导教师 仲 兆 楠 2011年09月20日 基于单片机的人形机器人的设计与实现摘 要本文介绍的人形机器人采用新华龙公司的C8051F310单片机为控制核心，利用舵机完成人形机器人的各种动作。该人形机器人可以完成下蹲、起立、走步，侧移和踢球等动作。舵机均采用单片机C8051F310内部的PCA模块产生的PWM波调节其转向和转角的大小从而实现人形机器人的各种动作。关键字：C8051F310 舵机 PCA模块 PWMDesign and Realization Humanoid Robot Based on MCUAbstractHumanoid Robot that is described in this article is using Nc Dragon single-chip microcomputer as control core，using rudder to complete various action。The Humanoid Robot can complete the squatting , standing up , walking , lateral moving and kicking actions. Rudder is controlled by PWM waves produced by C8051F310 MCU internal PCA module . Those actions is achieved through adjusting steering and rudder angle .Keywords: C8051F310 Rudder PCA module PWM概述本项目是基于51单片机的人形机器人的设计，整个程序采用C语言。近年来机器人就有很大的发展潜力，随着科技的进步，机器人将会做的越来越完善。人形机器人的产生解决的许多生产中的难题，它可以代替人类做许多危险而又高难度的工作。在一些场合机器人已经可以代替人类，相信在今后的时间里，人形机器人将会为我带来许多帮助。原理图的设计一、单片机外围电路本单片机的晶振为32.768MHZ，但是在后期的测试发现外部晶振输出不稳定，因此本项目采用的是内部晶振。我们所设计的机器人总共有12个舵机，而这款F310最多只能输出5路PWM，因此需要3块板子。二、电源驱动电路电源芯片采用AZ1084和LM1117。其中AZ1084输入电压为7.2v，输出电压为5v，LM1117输入电压为5v，输出电压为3.3v。F310单片机的工作电压是3.3v，因此需要经过两次降压达到3.3v。为了稳定工作电压，采用IB0505LS来稳定单片机的工作电压。三、通信接口我们需要3块电路板来是机器人工作，因此通信是必须考虑的问题。在此我们采用485来实现单片机之间的通信，通过一块主板来控制其余两块副板子的工作。485的好处就是它不像232那样要考虑电平匹配的问题。四、舵机接口采用光电隔离来稳定输出，是舵机正常稳定的工作。机器人有两条腿，每条腿由6路舵机来控制。PCB图制作一、 普通前二、 普通后（顶层）三、 普通后（底层）元器件列表 源程序左腿初始化：#include c8051f310.h#define uchar unsigned char#define uint unsigned intsbitP2_7 = P2 7;#define walk_zuo_1 186#define walk_zuo_2 187#define walk_zuo_3 188#define walk_zuo_4 189#define walk_zuo_5 190#definewalk_mark 222ucharmark;uchar act,arc;void Init_Variables()act=0;arc=0;void PCA_Init()PCA0CN = 0x40; PCA0MD &= 0x40; PCA0MD = 0x02; PCA0CPM0 = 0xC2; PCA0CPM1 = 0xC2; PCA0CPM2 = 0xC2; PCA0CPM3 = 0xC2; PCA0CPM4 = 0xC2;PCA0CPL0 = (uchar)(uint)(31*141.6+58000)%256);PCA0CPH0 = (uchar)(31*141.6+58000)/256);PCA0CPL1 = (uchar)(uint)(31*45.3+58000)%256);PCA0CPH1 = (uchar)(31*45.3+58000)/256);PCA0CPL2 = (uchar)(uint)(31*90.8+58000)%256);PCA0CPH2 = (uchar)(31*90.8+58000)/256);PCA0CPL3 = (uchar)(uint)(31*49.7+58000)%256);PCA0CPH3 = (uchar)(31*49.7+58000)/256);PCA0CPL4 = (uchar)(uint)(31*147.9+58000)%256);PCA0CPH4 = (uchar)(31*147.9+58000)/256);void Port_IO_Init() P0MDOUT = 0xC3; P1MDOUT = 0x01; P2MDOUT = 0x80; P0SKIP = 0x0C; P1SKIP = 0x06; XBR0 = 0x01; XBR1 = 0x45;P2_7 = 0;void Oscillator_Init() OSCICN = 0x82;void Timer_Init() TCON = 0x40; TMOD = 0x20; CKCON = 0x01; TL1 = 0x61; TH1 = 0x61;void UART_Init() SCON0 = 0x10;void Interrupts_Init() IE = 0x90;void Delay(uint dly)uint i,j;for(i=0;idly;i+)for(j=0;j1000;j+);/ Initialization function for device,/ Call Init_Device() from your main programvoid Init_Device(void) Init_Variables();PCA_Init(); Port_IO_Init(); Oscillator_Init(); Timer_Init();/Delay(5); UART_Init(); Interrupts_Init();void zuo_1_duoji(uchar x)PCA0CPL0 = (uchar)(uint)(31*x+58000)%256);PCA0CPH0 = (uchar)(31*x+58000)/256);void zuo_2_duoji(uchar x)PCA0CPL1 = (uchar)(uint)(31*x+58000)%256);PCA0CPH1 = (uchar)(31*x+58000)/256);void zuo_3_duoji(uchar x)PCA0CPL2 = (uchar)(uint)(31*x+58000)%256);PCA0CPH2 = (uchar)(31*x+58000)/256);void zuo_4_duoji(uchar x)PCA0CPL3 = (uchar)(uint)(31*x+58000)%256);PCA0CPH3 = (uchar)(31*x+58000)/256);void zuo_5_duoji(uchar x)PCA0CPL4 = (uchar)(uint)(31*x+58000)%256);PCA0CPH4 = (uchar)(31*x+58000)/256);void walk()switch(act)case walk_zuo_1 : zuo_1_duoji(arc);break;case walk_zuo_5 : zuo_5_duoji(arc);break;case walk_zuo_2 : zuo_2_duoji(arc);break;case walk_zuo_3 : zuo_3_duoji(arc);break;case walk_zuo_4 : zuo_4_duoji(arc);break;default :break;void main()Init_Device();while(1);void UART_Interrupt(void) interrupt 4uchar dat,i;/ucharmark;if(RI0=1)for(i=0;i180)act=dat;elsearc=dat;RI0=0;walk();右腿初始化：#include c8051f310.h#define uchar unsigned char#define uint unsigned intsbitP2_7 = P2 7;#define walk_you_1 181#define walk_you_2 182#define walk_you_3 183#define walk_you_4 184#define walk_you_5 185#definewalk_mark 223ucharmark;uchar act,arc;void Init_Variables()act=0;arc=0;void PCA_Init() PCA0CN = 0x40; PCA0MD &= 0x40; PCA0MD = 0x02; PCA0CPM0 = 0xC2; PCA0CPM1 = 0xC2; PCA0CPM2 = 0xC2; PCA0CPM3 = 0xC2; PCA0CPM4 = 0xC2;PCA0CPL0 = (uchar)(uint)(31*20+58000)%256);PCA0CPH0 = (uchar)(31*20+58000)/256);PCA0CPL1 = (uchar)(uint)(31*64.5+58000)%256);PCA0CPH1 = (uchar)(31*64.5+58000)/256);PCA0CPL2 = (uchar)(uint)(31*92.8+58000)%256);PCA0CPH2 = (uchar)(31*92.8+58000)/256);PCA0CPL3 = (uchar)(uint)(31*136.2+58000)%256);PCA0CPH3 = (uchar)(31*136.2+58000)/256);PCA0CPL4 = (uchar)(uint)(31*30+58000)%256);PCA0CPH4 = (uchar)(31*30+58000)/256);void Port_IO_Init() P0MDOUT = 0xC3; P1MDOUT = 0x01; P2MDOUT = 0x80; P0SKIP = 0x0C; P1SKIP = 0x06; XBR0 = 0x01; XBR1 = 0x45;P2_7 = 0;void Oscillator_Init() OSCICN = 0x82;void Timer_Init() TCON = 0x40; TMOD = 0x20; CKCON = 0x01; TL1 = 0x61; TH1 = 0x61;void UART_Init() SCON0 = 0x10;void Interrupts_Init() IE = 0x90;void Delay(uint dly)uint i,j;for(i=0;idly;i+)for(j=0;j1000;j+);/ Initialization function for device,/ Call Init_Device() from your main programvoid Init_Device(void) Init_Variables();PCA_Init(); Port_IO_Init(); Oscillator_Init(); Timer_Init();/Delay(5); UART_Init(); Interrupts_Init();void you_1_duoji(uchar x)PCA0CPL0 = (uchar)(uint)(31*x+58000)%256);PCA0CPH0 = (uchar)(31*x+58000)/256);void you_2_duoji(uchar x)PCA0CPL1 = (uchar)(uint)(31*x+58000)%256);PCA0CPH1 = (uchar)(31*x+58000)/256);void you_3_duoji(uchar x)PCA0CPL2 = (uchar)(uint)(31*x+58000)%256);PCA0CPH2 = (uchar)(31*x+58000)/256);void you_4_duoji(uchar x)PCA0CPL3 = (uchar)(uint)(31*x+58000)%256);PCA0CPH3 = (uchar)(31*x+58000)/256);void you_5_duoji(uchar x)PCA0CPL4 = (uchar)(uint)(31*x+58000)%256);PCA0CPH4 = (uchar)(31*x+58000)/256);void walk()switch(act)case walk_you_1 : you_1_duoji(arc);break;case walk_you_5 : you_5_duoji(arc);break;case walk_you_2 : you_2_duoji(arc);break;case walk_you_3 : you_3_duoji(arc);break;case walk_you_4 : you_4_duoji(arc);break;default :break;void main()Init_Device();while(1);void UART_Interrupt(void) interrupt 4uchar dat,i;/ucharmark;if(RI0=1)for(i=0;i180)act=dat;elsearc=dat;RI0=0;walk();主控制板初始化：#include c8051f310.hvoid PCA_Init() PCA0CN = 0x40; PCA0MD &= 0x40; PCA0MD = 0x08; PCA0CPM0 = 0xC2; PCA0CPM1 = 0xC2; PCA0CPM2 = 0xC2; PCA0CPM3 = 0xC2; PCA0CPM4 = 0xC2; PCA0CPL0 = 0xB8; PCA0CPL1 = 0xB8; PCA0CPL2 = 0xB8; PCA0CPL3 = 0xB8; PCA0CPL4 = 0xB8; PCA0CPH0 = 0xFE; PCA0CPH1 = 0xFE; PCA0CPH2 = 0xFE; PCA0CPH3 = 0xFE; PCA0CPH4 = 0xFE;void Port_IO_Init() P0SKIP = 0x0C; P1SKIP = 0x06; XBR0 = 0x01; XBR1 = 0x4D;void Oscillator_Init() int i = 0; OSCXCN = 0x67; for (i = 0; i 3000; i+); / Wait 1ms for initialization while (OSCXCN & 0x80) = 0); CLKSEL = 0x01; OSCICN = 0x00;void Timer_Init() TMOD = 0x20; CKCON = 0x01; TL1 = 0x70; TH1 = 0x70;void UART_Init() SCON0 = 0x10;void Interrupts_Init() IE = 0x90;/ Initialization function for device,/ Call Init_Device() from your main programvoid Init_Device(void) PCA_Init(); Port_IO_Init(); Oscillator_Init(); Timer_Init(); UART_Init(); Interrupts_Init();voidmain()Init_Device();执行动作：void Walk(void)uchar i;for(i=0;i11;i+) /右腿，关节抬起。Uart_Send(walk_you_2);Uart_Send(64-3*i);Delay(5);Uart_Send(walk_you_3);Uart_Send(93+2*i);Delay(5);Uart_Send(walk_you_4);Uart_Send(136-i);Delay(5);Uart_Send(walk_zuo_1); /左腿，关节调节重心位置Uart_Send(142-i);Delay(2);Uart_Send(walk_zuo_5);Uart_Send(143+i);Delay(200);Delay(1500);for(i=0;i0;i-)Uart_Send(walk_you_2);/ 右腿伸直Uart_Send(64-3*i);Delay(5);Uart_Send(walk_you_3);Uart_Send(93+2*i);Delay(5);Uart_Send(walk_you_4);Uart_Send(136-i);Delay(5);Uart_Send(walk_zuo_1);Uart_Send(142-i);Delay(2);Uart_Send(walk_zuo_2);/左腿伸直Uart_Send(45-i);Delay(2);Uart_Send(walk_zuo_3);Uart_Send(91-i);Delay(2);Uart_Send(walk_zuo_4);Uart_Send(50-i);Delay(200);Delay(1500);for(i=0;i11;i+)Uart_Send(walk_zuo_2);/左腿抬起迈步 Uart_Send(45+i*3);Delay(5);Uart_Send(walk_zuo_3);Uart_Send(91-2*i);Delay(5);Uart_Send(walk_zuo_4);Uart_Send(50+i);Delay(5);Uart_Send(walk_you_1);/调节重心Uart_Send(20+i);Delay(2);Uart_Send(walk_you_5);Uart_Send(30+i);Delay(200);Delay(1500);for(i=0;i0;i-)Uart_Send(walk_zuo_2);/左腿伸直 Uart_Send(45+i*3);Delay(5);Uart_Send(walk_zuo_3);Uart_Send(91-i*2);Delay(5);Uart_Send(walk_zuo_4);Uart_Send(50+2*i);Delay(5);Uart_Send(walk_you_1);Uart_Send(20+i);Delay(2);Uart_Send(walk_you_2);/右腿伸直Uart_Send(65+i);Delay(2);Uart_Send(walk_you_3);Uart_Send(93+i);Delay(5);Uart_Send(walk_you_4);Uart_Send(136+i*2);Delay(200);Delay(1500);void Stop()Uart_Send(walk_you_1);Uart_Send(13);Delay(5);Uart_Send(walk_zuo_1);Uart_Send(142);Delay(100);Uart_Send(walk_you_2);Uart_Send(65);Delay(5);Uart_Send(walk_zuo_2);Uart_Send(45);Delay(100);Uart_Send(walk_you_3);Uart_Send(91);Delay(5);Uart_Send(walk_zuo_3);Uart_Send(93);Delay(100);Uart_Send(walk_you_4);Uart_Send(136);Delay(5);Uart_Send(walk_zuo_4);Uart_Send(50);Delay(100);Uart_Send(walk_you_5);Uart_Send(32);Delay(5);Uart_Send(walk_zuo_5);Uart_Send(143);Delay(100);void Dunxia()uchar i;/蹲下for(i=0;i16;i+)Uart_Send(walk_you_4);Uart_Send(136+2*i);Delay(2);Uart_Send(walk_zuo_4);Uart_Send(50-2*i);Delay(2);Uart_Send(walk_you_3);Uart_Send(93+i*4);Delay(2);Uart_Send(walk_zuo_3);Uart_Send(91-i*4);Delay(2);Uart_Send(walk_you_2);Uart_Send(65-i*3);Delay(2);Uart_Send(walk_zuo_2);Uart_Send(45+i*2);Delay(500);for(i=0;i0;i-)Uart_Send(walk_you_4);Uart_Send(136+2*i);Delay(2);Uart_Send(walk_zuo_4);Uart_Send(50-2*i);Delay(2);Uart_Send(walk_you_3);Uart_Send(93+i*4);Delay(2);Uart_Send(walk_zuo_3);Uart_Send(91-i*4);Delay(2);Uart_Send(walk_you_2);Uart_Send(65-i*3);Delay(2);Uart_Send(walk_zuo_2);Uart_Send(45+i*2);Delay(500);void Dunxia_bf_Left_Move()uchar i;for(i=0;i0;i-)Uart_Send(walk_zuo_2);Uart_Send(45+3*i);Delay(2);Uart_Send(walk_you_2);Uart_Send(65-3*i);Delay(2);Uart_Send(walk_zuo_3);Uart_Send(91-2*i);Delay(2);Uart_Send(walk_you_3);Uart_Send(93+2*i);Delay(2);Uart_Send(walk_zuo_4);Uart_Send(50-i);Delay(2);Uart_Send(walk_you_4);Uart_Send(136+i);Delay(400);void Left_Move()uchar i;for(i=0;i0;i-)Uart_Send(walk_you_1);Uart_Send(20-i);Delay(2);Uart_Send(walk_you_5);Uart_Send(30+i);Delay(500);Delay(2000);for(i=10;i0;i-)Uart_Send(walk_zuo_2);/左腿伸直Uart_Send(75+3*i);Delay(2);Uart_Send(walk_zuo_3);Uart_Send(71-2*i);Delay(2);Uart_Send(walk_zuo_4);Uart_Send(40+i);Delay(2);Uart_Send(walk_zuo_1);Uart_Send(142-2*i);Delay(2);Uart_Send(walk_zuo_5);Uart_Send(143+2*i);Delay(2);/Uart_Send(walk_you_2);/右腿后蹬/Uart_Send(65-3*i);/Delay(2);Uart_Send(walk_you_3);Uart_Send(103+i);Delay(2);Uart_Send(walk_you_4);Uart_Send(136+i);Delay(2);Uart_Send(walk_you_1);Uart_Send(30-i);Delay(2);Uart_Send(walk_you_5);Uart_Send(20+i);Delay(500);Delay(5000);for(i=0;i0;i-)Uart_Send(walk_zuo_1);Uart_Send(142-i);Delay(2);Uart_Send(walk_zuo_5);Uart_Send(143-i);Delay(2);Uart_Send(walk_you_2);Uart_Send(35-2*i);Delay(2);Uart_Send(walk_you_3);Uart_Send(113+2*i);Delay(2);Uart_Send(walk_you_4);Uart_Send(146+2*i);Delay(2);Delay(500);Delay(5000);void kick_ball()uchar i;for(i=0;i11;i+)/重心左移Uart_Send(walk_zuo_1);Uart_Send(142-2*i);Delay(2);Uart_Send(walk_zuo_5);Uart_Send(143-2*i);Delay(2);Uart_Send(walk_you_5);Uart_Send(30-2*i);Delay(500);Delay(10000);for(i=0;i11;i+)/向后方抬起右腿Uart_Send(walk_you_2);Uart_Send(65+5*i);Delay(2);Uart_Send(walk_you_3);Uart_Send(91+2*i);Delay(2);Delay(1000);Delay(20000);for(i=0;i4;i+)/向前踢大腿Uart_Send(walk_you_2);Uart_Send(15+20*i);/Delay(2000);/Delay(20000);for(i=0;i6;i+)/向前踢小腿部分Uart_Send(walk_y