利用舵机制作简易机器人

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 RobotBased 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 intsbit P2_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#define walk_mark 222uchar mark;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;i<dly;i++)for(j=0;j<1000;j++); }// Initialization function for device,// Call Init_Device() from your main program void 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 4 {uchar dat,i;// uchar mark;if(RI0==1){for(i=0;i<2;i++){while(!RI0);dat=SBUF0;if(dat>180)act=dat;elsearc=dat;RI0=0;}walk();}}右腿初始化：#include "c8051f310.h"#define uchar unsigned char#define uint unsigned intsbit P2_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#define walk_mark 223uchar mark;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;i<dly;i++)for(j=0;j<1000;j++) ; }// Initialization function for device,// Call Init_Device() from your main program void 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 4 {uchar dat,i;// uchar mark;if(RI0==1){for(i=0;i<2;i++){while(!RI0);dat=SBUF0;if(dat>180)act=dat;elsearc=dat;RI0=0;}walk();}主控制板初始化：#include "c8051f310.h"void 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 program void Init_Device(void){PCA_Init();Port_IO_Init();Oscillator_Init();Timer_Init();UART_Init();Interrupts_Init();}void main(){Init_Device();}执行动作：void Walk(void){uchar i;for(i=0;i<11;i++) //右腿，，关节抬起。