Multi-purpose Special Mobile Operating Robot Control System Design

Subject comes from the actual project "Multi-purpose Special Movable Labor Robot"of Nanjing Scientific Bureau. According to the request of the project, designing anddeveloping the control system of the bodywork generated from the robot controlledtechnique and method at home and abroad.Firstly, constructing the one-to-many & master-slave distributing drive and controlsystem based the CAN bus from analyzing the control system of the robot and comparingwith different control ways. In the master-slave way, taking the embed veneer computerwith the CAN adapter as the master node, the rest four electrical machines are the slavenode, compiling the CAN communication procedure of CANopen application layer.In accordance, we have designed the in-out sensor data gather system for robots.Weachieve the sensor data collection through 3 serial-ports and general I/O programming ofthe main control computer.At the same time,we basic on the feature of ultrasonic waveinformational analog quantity and designed ultrasonic wave informational gather-modulewhich centering on AT89C51 control. After the analog test, we prove that the sensor gathermodule can meet the robots' requirements for environmental informational collection.At last, designing the robot moving control system combined with the robot sensinginformation. Compiling the robot avoiding difficulties procedure based on the ultrasonicsensor and infrared photoelectricity on-off information, deducing the robot climbcontrolling arithmetic according to the pitching information of the robot and compiling themoving control procedure as the gesture information of the robot.The robot surviving capacity has been guaranteed in the onerous conditions bycombining the moving control with the sense information as the robot control System,which meets with the request of the design item on the testing on the analog channel.