System Design And Implementation Of Intelligent Robot Based On Double Layer Structure

With the rapid development of robotics, robots have been widely used in both military and civilian fields and gradually occupy great significant status in the field of these areas. This thesis takes intelligent delivery platform as the research object, establishing a robot carried a manipulator with six degrees of freedom. This robot can move to designated location according to the desired path of movement, achieving the accurate delivery of carrying objects by identifying the target position. The main content of this paper includes the design of the hardware system platform, real-time control of the underlying actuators, multi-sensor information collection and fusion, path planning based on comprehensive environmental information.This thesis analyzes functional requirements of desired target system, proposing a dual system architecture based on embedded systems and single-chip system. Through the contrast analysis, this thesis completes the reconfiguration of the core hardware devices including TMS320DM6446 dual-core processors and C8051F020 microprocessor. Besides, a specific design for system is put forward, accomplishing the design of control unit circuit and hardware structure.A system development environment is built based on embedded platform, completing the cutting and grafting of Linux kernel according to the design requirements of hardware. This thesis analyzing I2C bus structure, operation timing and the I2C functional principle and serial data format of TMS320DM6446 processor, completing the driven design of the I2C-Davinci bus and C8051F020.A system functional design architecture is presented in this thesis, accomplishing the design of information collection software and the communication protocol frame structure and interaction of top and bottom. Colony algorithm is adopted to realize path planning of the robot from the starting point to the target point, and simulation results verify the correctness and practicality of this algorithm. This thesis makes use of PID algorithm to closed-loop control the speed and position of the robot, to prove the rationality, reliability and validity of this control method.