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摘要
This paper deals with the design and development of the vision-based Mirosot robot controller;a hardware structure based on digital signal processing (DSP) and complex programmable logic device (CPLD) is introduced in the controller. CPLD is used to accomplish the direction decoding, four-frequency multiplication and counting for two-quadrature encoder pulse. The experiment and match proved that the structure could make the robot have more real-time, nimbleness and robustness.
- 出版日期2004-7
- 单位中南大学
