CN205899377U - Novel spherical amphibious robot's multimachine coordinated control system - Google Patents
Novel spherical amphibious robot's multimachine coordinated control system Download PDFInfo
- Publication number
- CN205899377U CN205899377U CN201620833910.2U CN201620833910U CN205899377U CN 205899377 U CN205899377 U CN 205899377U CN 201620833910 U CN201620833910 U CN 201620833910U CN 205899377 U CN205899377 U CN 205899377U
- Authority
- CN
- China
- Prior art keywords
- robot
- amphibious
- module
- control
- wireless communication
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
The utility model provides a novel spherical amphibious robot's multimachine coordinated control system which it holds characterized in that the control unit, follows end the control unit and wireless data communication unit including the owner, the utility model discloses a based on the good characteristics of zigBee communication protocol communication under the low SNR, reduce spherical amphibious robot at the fault rate of carrying out detection mission, adopt point -to -multipoint's transmission mode, solve the single structure of ball -type amphibious robot control in the past problem, this communication system adopts the spherical amphibious robot level of principal and subordinate's hierarchical structure configuration, improves the efficiency of spherical amphibious multi -robot operation planning.
Description
Technical field
This utility model belongs to multirobot controlled in wireless field, especially a kind of multimachine of novel ball amphibious robot
Coordinated control system.
Background technology
At this stage, multirobot research have become as in robot research subject one important and before there is good development
The research direction of scape.For the wireless control method of multi-robot system, research is launched in the field such as multi-robot coordination control
It is equally a research work with most important theories and realistic meaning.Spherical amphibious robot enables in water and land because of it
Two kinds of environmental movements so that such humanoid robot is with a wide range of applications, including in life, the field such as industrial, military.
Although having developed now robot be also in the primary stage, execute the limited in one's ability of task, it is in the situation developing rapidly,
And start to produce huge actively impact to each side of the exploration of whole commercial production, space and ocean and human lives, with
When also contribute to safeguarding national rights and interests.
Many countries are had to be devoted to studying the control method of multirobot at present both at home and abroad, related research abroad is carried out relatively
Early, developed country has walked in the prostatitis in the world in the control aspect to robot, and the achievement of correlational study is more.China exists
Under the subsidy energetically of state natural sciences fund committee, Commission of Science, Technology and Industry for National Defence and 863 high-tech research development plans etc., Harbin Institute of Engineering
University, University of Electronic Science and Technology, Beijing University of Post ＆ Telecommunication, Beijing Institute of Technology, Nanjing Aero-Space University etc. are also all to ball-type machine
People and amphibious robot control field have been carried out and are studied and have made some progress, but still have larger gap compared with abroad.
Existing under water independently dive device, robot and spherical amphibious multirobot control program there is problems in that
(1) existing autonomous underwater vehicle, robot etc., how using there being cable control, constrain the mobility of robot
The robot diameter developed at this stage relatively large it is impossible to enough adapt to narrow and complex environment operation, and adopt
Driven with propeller, noise is larger, and the consumption to electric energy is of a relatively high, simultaneously need to being controlled to robot, robot has
Although cableless communication can solve subproblem, the mobility of robot is severely limited, and amphibious robot is by having
Cable controls and extremely easily gives away one's position under military field application conditions.
(2) existing underwater robot, underwater hiding-machine and amphibious robot adopt one-to-one control mode mostly, control
Mode is single, lacks the ability of multi-robot coordination motion
The research of multirobot control method has become one of robotics research important directions, is filled with novelty
Property, is provided simultaneously with good perspective, is research direction that is a kind of extremely important and possessing prospect.For multirobot control
The architecture of system, multi-robot coordination theory etc. conducts a research, and this is one and has grinding of most important theories and realistic meaning
Study carefully work.
Although domestic and international research team has been achieved with great breakthrough in terms of ball shape robot, but still there are some and ask
Topic: 1) control structure of most of ball-type amphibious robots is single, can only be amphibious to a billiard ball type by upper computer control module
Child robot is implemented to control；2), in low signal-to-noise ratio controlled environment, easily control signal in most of ball-type amphibious robots
Loss, robot phenomenon out of control；3) spherical amphibious robot can be only done single task role in execution task process mostly, and
Task can not be completed by way of coordinating to form into columns.
Content of the invention
The purpose of this utility model is to propose a kind of multimachine coordinated control system of novel ball amphibious robot, profit
Based on the feature that the xbee module communication conditions of zigbee communication protocol are excellent under Low SNR, overcome existing skill
The deficiency of art, is that a kind of structure is simple, communication structure clear and rational, easy to operate system.
The technical solution of the utility model: a kind of multimachine coordinated control system of novel ball amphibious robot, its feature
It is that it includes main side control unit, from end control unit and wireless data communication unit；Described wireless data communication unit by
Main side wireless communication module in the control unit of main side and constituting from end wireless communication module from the control unit of end；Described master
End wireless communication module is connected by bidirectional wireless communication mode between the control unit of end.
Described main side wireless communication module and from end wireless communication module between realized by zigbee communication protocol two-way
Wireless communication mode connects.
Described main side control unit also includes upper computer control module；Described upper computer control module and main side wireless telecommunications
It is in that serial port connects between module.
Described upper computer control module is based on labview (laboratory virtual instrument
Engineering workbench virtual instrument) controller, it is possible to achieve for the spherical amphibious robot of multiple stage can
Control depending on changing.
Described upper computer control module by way of serial communication to main side wireless communication module transmitting control commands, often
Individual from end wireless communication module and main side wireless communication module between by the wireless communication mode based on zigbee communications protocol
Connect, the amphibious child robot of every billiard ball shape can be by carrying from holding wireless communication module receive from PC control mould
The control command of block.
The described spherical amphibious child robot also including no less than 1 from end control unit is constituted；Described spherical amphibious son
Equipped with respective master control borad with robot；The master control borad of described spherical amphibious child robot and from end wireless communication module between
Connect in serial port.
Described wireless data communication unit is to be made up of xbee wireless data transfer module and communication connection conversion base plate；Its
Described in xbee wireless data transfer module with communication connection conversion base plate be separately mounted to the amphibious child robot body of every billiard ball shape
On；It is in serial communication side between the main side wireless communication module of described xbee wireless data transfer module and upper computer control module
Formula connects；The master control borad from end wireless communication module and spherical amphibious child robot of described xbee wireless data transfer module it
Between in serial communication connected mode connect.
Described xbee wireless data transfer module is the communication module based on zigbee communication protocol.
Control method of the present utility model:
(1) upper computer control module coordinates control to each spherical amphibious child robot by way of controlled in wireless
System；Upper computer control module is built and is completed by labview operation interface；
(2) coordinate the control of upper computer control module, set up spherical amphibious child robot motion mode:
1. crawling exercise mode and divertical motion mode: spherical amphibious child robot is respectively received crawling exercise mode
After control instruction or divertical motion mode control instruction, execution crawling exercise mode controls or divertical motion mode controls respectively.
2. the message back of the control information that the upper computer control module receiving is sent by spherical amphibious child robot to
Upper computer control module, after spherical amphibious child robot execution required movement, waits the new control of upper computer control module to be subjected
Information processed, if run in execution action ceased and desisted order, terminates motor program at once, switchs to spherical amphibious child robot initialization
State, that is, the amphibious child robot of ball-type is static, to treat again to receive new action directive；
(3) point-to-multipoint controlling network, and carry out formation process in a network:
By changing the control mode of wireless communication module, the network mode of operation belonging to setting wireless communication module, enter
And fixing status in spherical amphibious robot multimachine coordination system for the spherical amphibious child robot is terminal pattern, spherical two
Dwell child robot after receiving control instruction signal, can have group according to the crawling exercise mode setting or divertical motion mode
The motion knitted.
(4) communication between structure upper computer control module and spherical amphibious child robot:
1. upper computer control module and main side wireless communication module are the usart transmission means based on serial port communicating protocol,
Spherical amphibious child robot from end wireless transport module and spherical amphibious child robot body between pass through serial port
Link, main side wireless communication module and wirelessly transmission of control signals between the wireless communication module of end, spherical amphibious
The control signal receiving can be called by child robot, thus producing motion mode；
2. signal controlled for success can also be returned to from end no by spherical amphibious child robot body by serial mode
Line communication module, passes back to the main side wireless telecommunications mould that upper computer control module is connected in the way of wireless data streaming
Block；
3. upper computer control module completes to order to main side wireless communication module output control by labview operation interface
Order, main side wireless communication module is connected with the serial interface of upper computer control module in the way of serial communication, host computer control
Molding block sends control signal by virtual instrument serial ports integrated driving visa or receives being subject to of spherical amphibious child robot passback
Control signal.
In upper computer control module be based on labview operation interface, for state variable is shown and buttonization behaviour
Make；Described button is by channel selection button, controlled state mark, coordinates control knob, frequency adjusting knob, address choice
Frame, stop button and spherical amphibious child robot execute instruction control knob are constituted；Specific works method is by following steps structure
Become:
1. executed the channel selecting of recursion instruction by channel selection button, set first passage and be used for connecting host computer control
The main side wireless communication module of molding block, second channel is used for using for later stage expanding function for reserved passageway；
2. controlled state identifies the state for showing spherical amphibious child robot execution action command, if receiving spherical two
During the controlled signal of child robot of dwelling passback, display " ok " is to represent state successful connection；If receiving spherical amphibious child robot
The controlled signal of passback simultaneously shows when " error " the connection shape then it represents that upper computer control module and spherical amphibious child robot
State is unsuccessful；
3. when pressing coordination control knob, spherical amphibious child robot is performed init state with control life to be received
Order, creeps frequency adjusting spherical amphibious child robot, according to the difference of the environment terrain of execution investigation detection mission, needs
When spherical amphibious child robot executes investigation detection mission respectively, press the corresponding control knob of spherical amphibious child robot, lead to
Cross upper computer control module spherical amphibious child robot is controlled；
4. spherical amphibious child robot motion frequency adjustment knob is equivalent to a clock control circuit, spherical amphibious handset
One signal period of device people leg steering wheel is 20ms, so the given clock cycle is the integral multiple of 20ms, spherical to control
The traveling frequency of amphibious child robot leg exercise, thus reach the mesh controlling spherical amphibious child robot crawling exercise speed
's；
5. every amphibious child robot of billiard ball shape all can be one of with spherical amphibious child robot execute instruction control knob
Button corresponds to, and by its respective control knob, realizes during spherical amphibious child robot scouted, needing each single
Solely complete single control during task, make spherical amphibious child robot complete respective corresponding actions.
Operation principle of the present utility model: a kind of multimachine control method for coordinating of novel ball amphibious robot is using low
Based on the feature that the xbee module communication conditions of zigbee communication protocol are excellent under the conditions of signal to noise ratio, for this feature, pass through
Upper computer control module controls to the coordination of spherical amphibious child robot to reach the information exchange real-time of system, in special feelings
During condition operation, upper computer control module utilizes wireless communication module to send control information to spherical amphibious child robot, and energy
Enough control is coordinated to spherical amphibious child robot, spherical amphibious child robot, after receiving control instruction, executes respectively
Different tasks, after completing investigation detection, can send data to host computer for analysis by wireless communication module.Profit
With upper computer control module, each spherical amphibious child robot is carried out with the controlled in wireless of point-to-multipoint, and realizes host computer control
The feature of two-way communication between molding block and spherical amphibious child robot.This system can be applied in following various fields,
Spherical amphibious child robot can be formed into columns, realize amphibious child robot spherical to different squads and complete different task planning
And the requirement of coordinative operation.
A kind of multimachine control method for coordinating of novel ball amphibious robot, by wireless signal transmission form, controls letter
Breath distributing passes to the spherical amphibious child robot of multiple stage, realizes the remotely control to each spherical amphibious child robot, and
Coordinate to control, after spherical amphibious child robot is controlled, be able to carry out the order of host computer.
A kind of described novel ball amphibious robot multimachine control method for coordinating includes main side control unit and from end control
It is entirely spherical amphibious that unit processed, wherein main side control unit are that upper computer control module and main side wireless communication module are used for coordinating
Multirobot network, upper computer control module is passed through to send control information, multiple spherical amphibious sons to main side wireless communication module
Robot receives order simultaneously, and executes corresponding order.Spherical amphibious child robot passes through to add during execution task
Dress sensor acquisition data record simultaneously preserves, and be sent to host computer；Multiple spherical amphibious child robots can be by host computer control
Molding block unifies formation control, and spherical amphibious child robot, after carrying out formation process, enhances the ability of packet execution task,
As entered narrow space, or step-wise execution different task.
The core of wireless communication module is served as by the xbee module based on zigbee communication protocol, xbee communication module
It is the communication module based on zigbee communication protocol, by configuring the attribute of this module, it can be made to serve as different roles,
Xbee module can complete the signal transfer mode of point-to-multipoint, and this pattern can effectively execute set by upper computer control module
The spherical amphibious multi-robot coordination control program command (CP command) put.Equipped with this module on each spherical amphibious child robot, spherical two
Child robot of dwelling can be set up and connect each other.The wireless communication module configuration structure of host computer is coordinator pattern, spherical two
The wireless communication module of child robot of dwelling is configured to terminal pattern, accomplishes real-time multicast function.Spherical amphibious child robot
Be loaded with is connected by serial mode with robot master control borad from end wireless communication module, and upper computer control module is wireless with main side
Connected by serial mode between communication module, main side wireless communication module and between the wireless communication module of end by wireless
Mode transmission signal.Operator can be exported different respectively by upper computer control module to each from end wireless communication module
Task signal.
Upper computer control module builds and utilizes labview development environment, presses including setting visa environmental variable, formulation control
Button cluster, setting Boolean logic control knob, set cyclic variable, set up coordination exercise control program send instruction and multiple stage spherical
Amphibious child robot motion control program sends instruction, assigned frequency logical variable input function and foundation.
The 12v voltage of battery supply can not be directly connected to avr single-chip microcomputer, needs by lm2596 Voltage stabilizing module, 12v is electric
Pressure is converted to 5v voltage supply single-chip microcomputer, and the both positive and negative polarity of battery connects the input both positive and negative polarity of lm2596 Voltage stabilizing module, lm2596
The output both positive and negative polarity of Voltage stabilizing module is connected to 5v input and the gnd earth terminal of single-chip microcomputer plate.
Spherical amphibious child robot motion mode includes crawling exercise mode and divertical motion mode: in iccavr7 ring
Complete spherical amphibious child robot motor control in border, be respectively received different control information in spherical amphibious child robot
Afterwards, different motion modes are called to control respectively.Channel selection button is the big frame select button of underlying programs block diagram, permissible
The Channel assignment of execution recursion instruction, currently fixes the PC control mould that first passage connects spherical amphibious child robot
Block, second channel is used for later stage expanding function for reserved passageway and uses；State instruction marking frame can show the shape that program is run
State, if program receives the instruction of spherical amphibious child robot passback, display " ok " is to represent state successful connection, if program is received
To instructing of returning of spherical amphibious child robot and show when " error " company then it represents that program and spherical amphibious child robot
Connect state unsuccessful；When opening " coordination " button in program, display lamp is lighted, and climbs adjusting spherical amphibious child robot
After line frequency, press the control knob corresponding to a certain spherical amphibious child robot, can be by upper computer software to spherical two
Child robot of dwelling is controlled；Spherical amphibious child robot motion frequency adjustment knob is a clock control electricity in program bottom
Road, a signal period of spherical amphibious child robot leg steering wheel is 20ms, so the given clock cycle is the whole of 20ms
Several times, what the clock cycle write here inputted is the time of 20ms integral multiple, controls spherical amphibious child robot leg
The traveling frequency of motion, with the movement velocity controlling spherical amphibious child robot to creep；Spherical amphibious child robot executes respectively
Assignment instructions control knob can be during spherical amphibious child robot be scouted, and spherical amphibious child robot needs
Use when individuality accomplishes a task all by oneself, for controlling single spherical amphibious child robot to complete corresponding actions.
Of the present utility model it is advantageous in that: 1, employ the xbee based on zigbee communication protocol under Low SNR
The excellent feature of module communication conditions, it is low to change conventional communications efficiency, the little communication modes of bearer capabilities, realizes
Control on Communication under Low SNR, greatly reduces the error in execution investigation detection mission of spherical amphibious multirobot
Rate, solves conventional ball-type amphibious robot and easily dropout, robot mistake during execution investigation detection mission
The problem of control phenomenon；2nd, the multimachine control method for coordinating of this novel ball amphibious robot adopts the transmission means of point-to-multipoint,
Change the transmission means of in the past spherical amphibious multirobot dominating pair of vertices point, solve and can only pass through PC control in the past
Module to a billiard ball type, implement to control by amphibious child robot, greatly improves the efficiency of spherical amphibious multi robot processing planning；3、
The method adopts master/slave hierarchy structure configuration host computer and the affiliated level of spherical amphibious robot, can be to spherical amphibious many machines
People coordinates control and formation is processed, and solves spherical amphibious robot in the past and can be only done list in execution task process
One task, can not complete the problem of task by way of coordinating to form into columns.
Brief description
Fig. 1 is a kind of overall structure of the multimachine coordinated control system of novel ball amphibious robot involved by this utility model
Block diagram.
Fig. 2 is a kind of control flow of the multimachine control method for coordinating of novel ball amphibious robot involved by this utility model
Schematic diagram.
Fig. 3 is that a kind of network of multimachine control method for coordinating of novel ball amphibious robot involved by this utility model controls
Configuration diagram.
Fig. 4 is a kind of host computer control of the multimachine control method for coordinating of novel ball amphibious robot involved by this utility model
It is based on labview operation interface schematic diagram in molding block.
Fig. 5 is a kind of the spherical amphibious of multimachine control method for coordinating of novel ball amphibious robot involved by this utility model
Child robot program execution flow schematic diagram.
Specific embodiment
Embodiment: a kind of multimachine control method for coordinating (see Fig. 1) of novel ball amphibious robot is it is characterised in that it wraps
Include main side control unit, from end control unit and wireless data communication unit；Described wireless data communication unit is by main side control
Main side wireless communication module in unit and constituting from end wireless communication module from the control unit of end；Described main side channel radio
News module is connected by bidirectional wireless communication mode between the control unit of end.
Described main side wireless communication module and from end wireless communication module between realized by zigbee communication protocol two-way
Wireless communication mode connects (see Fig. 1).
Described main side control unit (see Fig. 1) also includes upper computer control module；Described upper computer control module and main side
It is in that serial port connects between wireless communication module.
Described upper computer control module is the controller based on labview, it is possible to achieve the spherical amphibious machine for multiple stage
The visualization of people controls.
Described upper computer control module by way of serial communication to main side wireless communication module transmitting control commands, often
Individual from end wireless communication module and main side wireless communication module between by the wireless communication mode based on zigbee communications protocol
Connect, the amphibious child robot of every billiard ball shape can be by carrying from holding wireless communication module receive from PC control mould
The control command of block.
The described spherical amphibious child robot also including no less than 1 from end control unit (see Fig. 1) is constituted；Described spherical
Equipped with respective master control borad with amphibious child robot；The master control borad of described spherical amphibious child robot with from end wireless telecommunications mould
It is in that serial port connects between block.
In this embodiment, the amphibious child robot of ball-type is 3, and the amphibious child robot of 3 ball-types is coordination, marks respectively
For 1#～3#.
Described wireless data communication unit is to be made up of xbee wireless data transfer module and communication connection conversion base plate；Its
Described in xbee wireless data transfer module with communication connection conversion base plate be separately mounted to the amphibious child robot body of every billiard ball shape
On；It is in serial communication side between the main side wireless communication module of described xbee wireless data transfer module and upper computer control module
Formula connects；The master control borad from end wireless communication module and spherical amphibious child robot of described xbee wireless data transfer module it
Between in serial communication connected mode connect.
Described xbee wireless data transfer module is the communication module based on zigbee communication protocol.
Fig. 5 is the spherical amphibious child robot program execution flow of multimachine control method for coordinating, 1#～3# first spherical two
Through initialization startup program, robot remains static and is ready to carry out task child robot system of dwelling, and judges whether to be connected to
The control command of upper computer control module, the control command sending if there are upper computer control module, receive control command and hold
Row control command simultaneously changes kinestate, if being not received by the control command of upper computer control module transmission, does not change fortune
Dynamic state；Spherical amphibious child robot 1#～3# sends control information to upper computer control module, notifies upper computer control module
Whether controlled, if completing the control command of upper computer control module, quit a program, if ball-type amphibious child robot 1#～3# is still
The control command of undone upper computer control module, then execution judges whether to be connected to the control life of upper computer control module again
Order, in all program finishes execution backed off after random programs.
Claims (8)
1. a kind of multimachine coordinated control system of novel ball amphibious robot it is characterised in that it include main side control unit,
From end control unit and wireless data communication unit；Described wireless data communication unit is wireless by the main side in the control unit of main side
Communication module and constituting from end wireless communication module from the control unit of end；Described main side wireless communication module with from end control
Connected by bidirectional wireless communication mode between unit.
2. according to claim 1 a kind of multimachine coordinated control system of novel ball amphibious robot it is characterised in that institute
State main side wireless communication module and between the wireless communication module of end, bidirectional wireless communication side is realized by zigbee communication protocol
Formula connects.
3. according to claim 1 a kind of multimachine coordinated control system of novel ball amphibious robot it is characterised in that institute
State main side control unit and also include upper computer control module；Between described upper computer control module and main side wireless communication module it is in
Serial port connects.
4. according to claim 3 a kind of multimachine coordinated control system of novel ball amphibious robot it is characterised in that institute
State the controller that upper computer control module is based on labview, it is possible to achieve for the visualization of the spherical amphibious robot of multiple stage
Control.
5. according to claim 4 a kind of multimachine coordinated control system of novel ball amphibious robot it is characterised in that institute
State upper computer control module by way of serial communication to main side wireless communication module transmitting control commands, each is wireless from end
By being connected based on the wireless communication mode of zigbee communications protocol between communication module and main side wireless communication module, every billiard ball
The amphibious child robot of shape can be by carrying the control life receiving from upper computer control module from end wireless communication module
Order.
6. according to claim 1 a kind of multimachine coordinated control system of novel ball amphibious robot it is characterised in that institute
State the spherical amphibious child robot also including no less than 1 from end control unit to constitute；With described spherical amphibious child robot
Equipped with respective master control borad；The master control borad of described spherical amphibious child robot and from end wireless communication module between be in serial communication
Mode connects.
7. according to claim 1 a kind of multimachine coordinated control system of novel ball amphibious robot it is characterised in that institute
Stating wireless data communication unit is to be made up of xbee wireless data transfer module and communication connection conversion base plate；Wherein said xbee
Wireless data transfer module is separately mounted to the amphibious child robot of every billiard ball shape with communication connection conversion base plate；Described xbee
It is connected in serial port between the main side wireless communication module of wireless data transfer module and upper computer control module；Described
Xbee wireless data transfer module is in that serial ports leads between end wireless communication module and the master control borad of spherical amphibious child robot
News connected mode connects.
8. according to claim 7 a kind of multimachine coordinated control system of novel ball amphibious robot it is characterised in that institute
State the communication module that xbee wireless data transfer module is based on zigbee communication protocol.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620833910.2U CN205899377U (en) | 2016-08-01 | 2016-08-01 | Novel spherical amphibious robot's multimachine coordinated control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620833910.2U CN205899377U (en) | 2016-08-01 | 2016-08-01 | Novel spherical amphibious robot's multimachine coordinated control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205899377U true CN205899377U (en) | 2017-01-18 |
Family
ID=57783232
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620833910.2U Active CN205899377U (en) | 2016-08-01 | 2016-08-01 | Novel spherical amphibious robot's multimachine coordinated control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205899377U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106020179A (en) * | 2016-08-01 | 2016-10-12 | 天津理工大学 | Novel multimachine coordinated control system and method for spherical amphibious robot |
| CN108873774A (en) * | 2018-06-14 | 2018-11-23 | 合肥工业大学 | A kind of VEX robot teaching supplementary controlled system and control method |
-
2016
- 2016-08-01 CN CN201620833910.2U patent/CN205899377U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106020179A (en) * | 2016-08-01 | 2016-10-12 | 天津理工大学 | Novel multimachine coordinated control system and method for spherical amphibious robot |
| CN108873774A (en) * | 2018-06-14 | 2018-11-23 | 合肥工业大学 | A kind of VEX robot teaching supplementary controlled system and control method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106020179A (en) | Novel multimachine coordinated control system and method for spherical amphibious robot | |
| CN103901889A (en) | Multi-robot formation control path tracking method based on Bluetooth communications | |
| CN201707829U (en) | Modular teaching robot based on open framework | |
| CN103101054A (en) | Programming and control system of mobile phone to robot | |
| CN101286058A (en) | Robot modularized distribution type adaptive control system and method | |
| CN205899377U (en) | Novel spherical amphibious robot's multimachine coordinated control system | |
| CN104149081B (en) | Modular handheld double-operating-end master robot | |
| CN103985278A (en) | Teaching and experiment system of Internet of things | |
| CN103345164A (en) | Multi-autonomous-vehicle decision and control real-time simulation experiment system | |
| CN102981504A (en) | System and method for controlling formations of a plurality of robots based on Zigbee communication | |
| CN106020178B (en) | Autonomous spherical amphibious multi-robot communication system and working method thereof | |
| CN209015561U (en) | A kind of robot teaching aid | |
| CN111414688A (en) | Mobile robot simulation system and method based on UNITY engine | |
| CN204650244U (en) | A kind of digital control system in open type based on EtherCAT bus | |
| CN206849010U (en) | A kind of novel radio bus steering gear system | |
| CN109352649A (en) | A kind of method for controlling robot and system based on deep learning | |
| CN108044624A (en) | A kind of robot control system based on POWERLINK buses | |
| CN205679960U (en) | A kind of single wheel self-balancing Intelligent teaching robot | |
| CN106708034A (en) | Implementation method for controlling walking path of robot on basis of mobile phone | |
| CN205899376U (en) | Spherical amphibious multi -robot communication system of autonomic formula | |
| CN106338966A (en) | Novel programming method for trajectory planning of industrial robot | |
| Zhu et al. | Design of a modular snake robot and control with Internet of Things | |
| CN203600249U (en) | Motion control device of industrial robot | |
| CN204054038U (en) | Engineering robot | |
| CN112967559B (en) | Assembly skill direct generation method based on virtual assembly environment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |