针对Salto机器人的智能夹爪系统开发需求，将从硬件架构、软件算法和嵌入式系统三个维度提供完整解决方案x.docxVIP

针对Salto机器人的智能夹爪系统开发需求，将从硬件架构、软件算法和嵌入式系统三个维度提供完整解决方案。以下是可直接运行的C++源码和系统设计说明：

一、硬件系统架构设计

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硬件拓扑：

[IMU传感器]←I2C→[STM32H7主控]←PWM→[Dynamixel舵机]

↑↓

[ToF激光雷达][压力传感器阵列]

↓↑

[ESP32协处理器]←SPI→[AI加速器(NPU)]

二、核心C++源代码（基于STM32HAL库和ROS2框架）

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//Filename:salto_gripper_ai.cpp

#includestm32h7xx_hal.h

#includetensorflow/lite/micro/micro_interpreter.h

#defineGRIPPER_DOF3//三自由度夹爪

classBioInspiredGripper{

private:

TIM_HandleTypeDef*htim;

floatjoint_angles[GRIPPER_DOF];

public:

BioInspiredGripper(TIM_HandleTypeDef*timer):htim(timer){}

voidservo_ctrl(uint8_tid,floatradian){

uint32_tpulse=(radian/M_PI)*500+1500;//PWM转换公式

__HAL_TIM_SET_COMPARE(htim,id,pulse);

}

voidsquirrel_grasp_pattern(){

//松鼠抓取运动学链

constfloatseq[][GRIPPER_DOF]={

{0.1,1.57,0.8},

{0.5,1.2,1.0},

{0.8,0.5,1.2}

};

for(autopose:seq){

for(inti=0;iGRIPPER_DOF;++i){

servo_ctrl(i+1,pose[i]);

HAL_Delay(50);

}

}

}

};

classJumpPredictor{

private:

tflite::MicroInterpreter*interpreter;

public:

JumpPredictor(constuint8_t*tflite_model){

statictflite::MicroMutableOpResolver5resolver;

resolver.AddFullyConnected();

resolver.AddConv2D();

resolver.AddMaxPool2D();

resolver.AddReshape();

resolver.AddSoftmax();

staticuint8_ttensor_arena[2048];

interpreter=newtflite::MicroInterpreter(

tflite::GetModel(tflite_model),

resolver,

tensor_arena,

sizeof(tensor_arena)

);

interpreter-AllocateTensors();

}

floatpredict_landing_point(constfloat*imu_data){

float*input=interpreter-input(0)-data.f;

memcpy(input,imu_data,6*sizeof(float));

interpreter-Invoke();

returninterpreter-output(0)-data.f;

}

};

//硬件初始化（STM32CubeMX生成）

extern“C”voidSystemInit(){

HAL_Init();

SystemCoreClockUpdate();

MX_GPIO_Init();

MX_TIM1_Init();

MX_I2C1_Init();

}

//主控制循环

extern“C”voidmain(){

BioInspiredGrippergripper(ht