智能移动机器人运动学分析与嵌入式系统设计

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中图分类号：TP242.6 文献标识码：A 文章编号：2096-4706（2025）18-0174-05

Abstract：As an intelligent equipment，mobile robots havea wide range ofapplications inaerospace，military and civilian felds.Aimingat theobstaclecrossingperformanceofmobilerobots inRoboMastercollgestudentrobotcompetition，arobot chassis design basedonMecanum Wheelis proposed.Through the kinematicsanalysisoftherobot chasis structure，pan-tilt and launch mechanism，an embedded system basedon STM32ARM processr andRTOS （Real-time OS）is proposed，and the underlying hardwaredriverlayer，middledatafowlayeranduppertaskschedulinglayerof thesystemareaalyzed.Double-loop PIDcontrolisused torealizethecontrol functionsofrobotomnidirectional movement，double-axis pan-tilt movingaimingand hitingtargets.Inteactaloperationtestofthoot，itowsgodfexibilityandstabilityacheves tepredeterddsig goal， and verifies the feasibility of the modular design scheme.

Keywords：mobile robot;kinematicanalysis; embedded system;STM32;RTOS

0 引言

实现，很大程度上取决于嵌入式系统的设计水平[2-3]。（剩余5393字）