Study On The Control System Of Wheeled Mobile Robots Based On ARM-DSP

Wheeled mobile robots were often used to assist humans in production or perform special tasks in hazardous environments.The fast-moving chassis and agile robotic arm were the basis for wheeled mobile robots to complete various tasks.Therefore,it was of great practical significance to study the related control technologies.In this paper,a self-developed double-driving wheel mobile robot was taken as the research object,and the development of the chassis and robotic arm control system and the key control techniques are studied.For the practical application and subsequent upgrade requirements of wheeled mobile robots,an overall design scheme based on ARM-DSP hierarchical control was proposed and the hardware selection and configuration were performed.The hardware circuit of the control system was designed,and the drive module was designed.Wireless communication module,navigation module,obstacle avoidance module and current detection module,and hardware circuit diagram;based on the functional requirements of the chassis movement,the motor servo control,navigation control,obstacle avoidance control algorithm and data communication methods were studied.The development of related software was completed,and the effect of chassis motion control was verified through experiments.For the motion control of the robot arm,the inverse kinematics solution of the robot kinematics was solved by the iterative method-Jacobi matrix inversion method.The SVD decomposition method was used to implement the solution.Jacobi matrix inversion;proposed a linear trajectory planning algorithm based on linear interpolation and segmentation method,and verified the effectiveness of the algorithm.