Research On Wheeled Mobile Robot's Open-Architecture Control System

The architecture of traditional robot's control system is always closed,so it limits the robot system's scalability and flexibility. In this paper, a three-wheels (two differential drive) mobile robot is studied and an open-architecture control system design based PCI bus of mobile robot is proposed.The hardware and software of the control system is studied and discussed in detail.Completed work includes the followings:1)Complete the kinematic modeling and kinematics analysis of wheeled mobile robot.2)Propose the control system's overall design.The upper computer uses general computer and the lower computer uses motion control card based DSP(TMS320F2812).They communicate through the PCI bus. The PCI Bus Interface design is implemented using the special interface chip(PCI9052).The communication between DSP and PCI9052 is implemented by using a dual-port RAM(IDT7025).The DSP minimum system, motor drive interface circuit, feedback signal interface circuit, opto-isolated I/O interface circuit, external expansion memory communication interface circuit between DSP and host computer,sensor selections,etc. are all studied and discussed in detail.3) Complete the hardware design and fabrication of the motion control card based DSP(TMS320F2812).4)For the robot, the structure of PID controller, PID control algorithm and the achieve method of fuzzy PID controller are studied and do the simulation.5) The motion control card's PCI-bus driver is developed using Windriver. Complete the wheeled mobile robot's non-real-time and real-time control software design and conduct the system's debugging. The design achieves the desired goals.