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ABB 3HAC2425-1 DSQC 370
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光电探头安装在机器人底盘前部，共设置了5个检测点。从理论上讲，检测点越多、越密，识别的准确性与可靠性就越高，但是硬件的开销与软件的复杂程度也相应的增加。采用该巡线系统保证了检测的***度，节约了硬件的开销。发光二极管发出的调制光经地面反射到光敏二极管。光敏二极管产生的光电流随反射光的强弱而线性变化。把这种变化检测出来，就可以判断某一个检测点是否在白色引导线的上方，从而判断机器人和白色引导线的相对位置。
5 电机驱动模块
机器人的驱动件主要是电机和舵机，都可以采用PWM进行调速与控制。根据脉冲编码器的反馈信号，对机器人的运动状态进行实时控制。直流伺服电机的控制原理如图5所示。调节：PWM的信号就能够快速调节舵机的转角，从而实现机器人的方向控制。
6 结束语
基于5l型单片机的自动巡线轮式机器人控制系统运行平稳可靠，抗干扰能力强，不仅满足了机器人大赛的设计要求，同时也为智能机器人搭建了良好的控制平台。
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GE FANUC IC693CPU331-BB
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GE Fanuc cpu module IC693CPU331YX version 8.0 cpu 331
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GE FANUC IC693CPU351 IC693CPU351-GR CPU Free Ship
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Ge Fanuc 90-30 IC693CPU313V PLC
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GE FANUC IC693CPU323 USPP IC693CPU323
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GE FANUC IC693CPU341L CPU MODULE 80K BYTES USER MEMORY
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GE Fanuc #IC693CPU350-BD 32K/8 Rack User Memory CPU Module *LN*
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GE Fanuc IC693CPU331-BB CPU Module
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GE #IC693CPU321K, PLC Base, NIB