In this thesis, an omni-directional soccer robot system is designed based on the regulation of RoboCup small-size league, which includes design of mechanism, driving circuit, and motion controller. First of all, the dribbling and kicking mechanisms of soccer robots designed in last few years in this laboratory are improved, and also remodeled the body. Secondly, it devises an omni-directional robot to follow the trend of driving mechanism of robotics. The dynamic equations of the omni-directional robot are also derived, and then a PID motion controller is designed based on these dynamic equations. Finally, it uses 8051 to sketch the driving circuit of the robot. The integrated system is tested on a RoboCup soccer field, and the results conform to the expected functions.
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