The programmer designed for series of at89c5x microprocessors 系列單片機(jī)編程器設(shè)計(jì)
Second , the author introduced a new stability region , and programmed a trajectory of variable zmp , which was defined as a cosine curve ; the author also designed a cog - compensated method to keep the cog ’ s height ; based on dynamics of 3 - d inverted pendulum , the author educed the cog ’ s trajectory equation of the robot in the three - leg - support phase , and used third - order splint function to ensure the acceleration continuity of the robot ’ s cog in the four - leg - support phase . at last , walking patterns of the corresponding gait are generated through programmer design 然后,提出了一種新的支撐區(qū)域選取方法,采用了按余弦規(guī)律變化的zmp運(yùn)動(dòng)軌跡;為了維持機(jī)器人行走時(shí)重心高度不變,采用了一套有效的質(zhì)心高度保持方法;基于三維倒立擺模型,推導(dǎo)了機(jī)器人三腳支撐期質(zhì)心運(yùn)動(dòng)軌跡方程;采用三次樣條曲線(xiàn)插值規(guī)劃了四足支撐期加速度連續(xù)的質(zhì)心運(yùn)動(dòng)軌跡。
In programmer design aspect , a kindly platform help general engineering personnel easily complete design task even if they have not complex mechanics and finite element knowledge , which complete template task and transform of design based on experience to modern design 在程序設(shè)計(jì)方面,運(yùn)用windows編程技術(shù),初步建立起了windows風(fēng)格的應(yīng)用程序框架,編制了友好的界面,使得不具有復(fù)雜力學(xué)和有限元理論背景的一般工程技術(shù)人員也能輕松完成設(shè)計(jì)任務(wù),達(dá)到了模塊化設(shè)計(jì)的目的。