Development of the autonomic mobile platform for RoboCup robot

摘要

A new platform of the autonomic mobile robot designed for the middle size RoboCup robot is introduced in this paper. Great innovations are made not only on the platform servo system but also on the driving controller design. Simple encoders and flat motors driven directly by the controller are used. High performance control of multiple motors is implemented by a DSP special for digital control. The platform has a reliable concise structure and characteristics of high performance-price ratio and, at the same time, is open and universal.