MUC LUC

Li cam n...............................................................................................................i
Tom tat e tai .........................................................................................................ii
Muc luc ..................................................................................................................iii
Chng 1 TONG QUAN........................................................................................1
1.1 nh ngha.......................................................................................................1
1.2 Phan loai va ng dung ...................................................................................2
1.2.1 Robot the he th nhat ..............................................................................2
1.2.2 Robot the he th hai.................................................................................2
1.2.3 Robot the he th ba..................................................................................2
1.2.4 Robot the he th t ..................................................................................3
1.2.5 Robot the he th nam ...............................................................................3
Chng 2 NHIEM VU CUA LUAN VAN TOT NGHIEP .................................5
Chng 3 ONG HOC TAY MAY ......................................................................6
3.1 Gii thieu ve tay may ......................................................................................6
3.1.1 Phan loai tay may theo chuyen ong .......................................................6
3.1.2 Cac cong thc toan hoc lien quan ............................................................7
3.1.2.1 He toa o ......................................................................................7
3.1.2.2 Chuyen oi he toa o ...................................................................8
3.1.3 Phan tch ong hoc tay may bang phng phap ma tran.........................8
3.1.4 Mo ta chuyen ong vi phng phap toa o thuan nhat .......................11
3.1.4.1 Gii thieu phng phap toa o thuan nhat .................................11
3.1.4.2 Ma tran DH tuyet oi ................................................................12
3.1.4.3 Ma tran DH tng oi .................................................................13
3.1.4.4 Ma tran DH quay ........................................................................13
3.1.4.5 Ma tran DH tnh tien ..................................................................13
3.2 Bai toan ong hoc thuan ...............................................................................14
3.3 Bai toan ong hoc ngc...............................................................................15
3.4 Ket luan ..........................................................................................................15
Chng 4 THIET KE TAY MAY .....................................................................16
4.1 Gii thieu .........................................................................................................16
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4.1.1 Cac goc cua tay may ..............................................................................18

4.1.2 Cac gii han cua goc .............................................................................18
4.1.3 Khong gian lam viec cua tay may...........................................................18
4.1.4 Cac ma tran DH lien quan .....................................................................19
4.2 Cac phng phap ve ......................................................................................20
4.2.1 Ve iem tren mat phang XY....................................................................20
4.2.2 Ve iem tren mat phang nghieng mot goc ............................................22
4.2.3 Ve iem trong khong gian.......................................................................24
4.3 Ket luan ...........................................................................................................25
Chng 5 ONG C RC SERVO ......................................................................26
5.1 Gii thieu ve ong c RC Servo...................................................................26
5.2 Cau tao ong c RC Servo ...........................................................................27
5.3 Nguyen ly hoat ong cua ong c RC Servo ..............................................29
5.4 Ket luan ..........................................................................................................30
Chng 6 VI X LY AVR-AT90S2313..............................................................31
6.1 Gii thieu chung ve ho vi x ly AVR ...........................................................31
6.1.1 ac tnh ky thuat cua AVR-AT90S2313 ..................................................31
6.1.2 S o chan ..............................................................................................32
6.2 Cau truc cua AVR .........................................................................................32
6.2.1 Thanh ghi (register)................................................................................34
6.2.2 Bo nh thi (timer) ................................................................................35
6.2.3 UART ......................................................................................................35
6.2.3.1 Bo truyen d lieu .......................................................................36
6.2.3.2 Bo nhan d lieu .........................................................................37
6.2.4.3 Cac thanh ghi lien quan .............................................................38
6.2.4.4 Cach nh toc o BAUD............................................................40
6.3 Cac lenh cua AT90S2313 s dung trong luan van ....................................41
6.4 Nap d lieu noi tiep .......................................................................................48
6.5 Ket luan ..........................................................................................................50
Chng 7 VI X LY AT89C2051 .......................................................................51
7.1 Gii thieu ve AT89C2051..............................................................................51
7.2 Mo ta cac chan cua AT89C2051 ..................................................................52
7.3 S o va nguyen ly nap chng trnh cho AT89C2051 .............................53
7.3.1 S o mach nap cho AT89C2051 ...........................................................53
7.3.2 Nguyen ly nap chng trnh cho AT89C2051 ........................................54
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7.4 Ket luan ..........................................................................................................55

Chng 8 THIET B HIEN TH LCD...............................................................56
8.1 Gii thieu ve LCD 1602A..............................................................................56
8.2 Bang ma lenh e lap trnh LCD 1602A.......................................................58
8.3 S o khoi giai thuat lap trnh LCD 1602A ................................................62
8.3.1 Giai thuat lap trnh vi 8-bit data ..........................................................62
8.3.2 Giai thuat lap trnh vi 4-bit data ..........................................................63
8.4 Ket luan ..........................................................................................................66
Chng 9 IEU KHIEN BANG CONG NOI TIEP .........................................67
9.1 Gii thieu ........................................................................................................67
9.2 Giao tiep vi may vi tnh...............................................................................67
9.2.1 Chuan giao tiep RS-232........................................................................68
9.2.1.1 Cac yeu ky thuat cua chuan RS-232 ..........................................68
9.2.1.2 S o chan ra tren PC................................................................68
9.2.2 Cac thanh ghi va a ch.........................................................................70
9.2.2.1 Thanh ghi cho phep ngat (IER) ..................................................70
9.2.2.2 Thanh ghi ieu khien ng dan (LCR) ....................................71
9.2.3 Giao tiep gia PC vi AT89C2051 .........................................................72
9.2.3.1 Khung truyen d lieu ..................................................................72
9.2.3.2 S o mach noi AT89C2051 vi RS-232 ...................................72
9.3 Giao tiep noi tiep gia AT89C2051 va AT90S2313.....................................73
9.3.1 Thiet lap toc o BAUD 4800 ..................................................................73
9.3.1.1 Thiet lap toc o BAUD cho AT89C2051 ...................................73
9.3.1.2 Thiet lap toc o BAUD cho AT90S2313....................................73
9.3.2 Chng trnh truyen (AT89C2051) va nhan (AT90S2313) d lieu ..........73
9.3.2.1 Chng trnh con truyen d lieu viet cho AT89C2051 ..............73
9.3.2.2 Chng trnh con nhan d lieu viet cho AT90S2313 .................74
9.4 Ket luan ..........................................................................................................74
Chng 10 TRUYEN NHAN D LIEU BANG HONG NGOAI ....................75
10.1 Gii thieu ve hong ngoai (IR).....................................................................75
10.1.1 nh ngha ............................................................................................75
10.1.2 u va nhc iem .................................................................................75
10.2 Truyen tn hieu hong ngoai ........................................................................76
10.2.1 Gii thieu..............................................................................................76
10.2.2 Nguyen ly truyen d lieu bang hong ngoai ...........................................76
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10.2.3 Khung truyen d lieu ............................................................................77

10.2.3.1 Khung truyen 1 byte d lieu .....................................................77
10.2.3.2 Thi gian cua khung truyen ......................................................77
10.2.4 Tao tan so mang bang AT89C2051.......................................................77
10.2.5 S o nguyen ly mach phat ...................................................................78
10.2.6 S o khoi cua truyen mot byte d lieu (10 bit) ....................................79
10.3 Nhan d lieu bang hong ngoai....................................................................80
10.3.1 Cam bien thu nhan tn hieu hong ngoai................................................80
10.3.1.1 Cac ac tnh ve cam bien ........................................................80
10.3.1.2 S o khoi ben trong cua cam bien .........................................82
10.3.2 X ly d lieu nhan c........................................................................82
10.4 S o khoi tong quat cua viec truyen nhan d lieu .................................84
10.5 Ket luan ........................................................................................................84
Chng 11 GIAO TIEP VI BAN PHM AT...................................................85
11.1 Khai quat ve ly thuyet cua ban phm giao tiep vi PC............................85
11.2 Cac ma lenh e giao tiep vi ban phm.....................................................86
11.2.1 Cac ma lenh c gi ti ban phm......................................................86
11.2.2 Cac ma lenh c gi i t ban phm...................................................86
11.3 Cac ma quet cua ban phm AT...................................................................86
11.4 Cong noi cua ban phm ..............................................................................87
11.5 Lap trnh giao tiep vi ban phm ...............................................................88
11.5.1 Lap trnh gi lenh t ban phm en bo ieu khien ................................88
11.5.2 Lap trnh gi lenh t bo ieu khien en ban phm................................88
11.6 Ket luan ........................................................................................................89
Chng 12 IEU KHIEN IDE ...........................................................................90
12.1 Gii thieu ve a cng .................................................................................90
12.1.1 Lch s phat trien cua a cng ............................................................90
12.1.2 Cau truc vat ly cua mot a cng .........................................................91
12.1.3 Hoat ong.............................................................................................92
12.1.4 Chuan IDE............................................................................................92
12.2 Giai thuat ieu khien ..................................................................................93
12.3 Chng trnh ieu khien va s o nguyen ly mach ieu khien ..............96
12.4 Ket luan ........................................................................................................96
Chng 13 CHNG TRNH IEU KHIEN...................................................97
13.1 Gii thieu ve chng trnh ieu khien ......................................................97
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13.2 Cau truc cua chng trnh..........................................................................99

13.2.1 Chng trnh con ve iem ...................................................................101
13.2.2 Ham tnh toan cac goc cua tay may ..................................................102
13.2.3 Ham gi cac d lieu ra port noi tiep ..................................................103
13.2.4 Ham hien th tay may ra man hnh .....................................................104
13.3 Ket luan ......................................................................................................104
Chng 14 THIET KE MACH IEU KHIEN TAY MAY ...........................105
14.1 Thiet ke mach ieu khien tay may ..........................................................105
14.1.1 Phng an mot....................................................................................105
14.1.2 Phng an hai.....................................................................................106
14.1.3 Phng an ba......................................................................................107
14.1.4 Phng an bon....................................................................................108
14.1.5 Ket luan ..............................................................................................108
14.2 Phan lap trnh cho AT90S2313 e ieu khien RC Servo .....................108
14.3 Ket luan ......................................................................................................113
Chng 15 KET LUAN .....................................................................................114
15.1 Nhng van e a giai quyet c ........................................................... 114
15.2 Hng phat trien cua e tai.................................................................... 115
TAI LIEU THAM KHAO ..................................................................................116

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