The Motion Control And Realization Of The Swing Arm Suspended Mobile Platform

As the basic structure of mobile robot,mobile platform has high mobility.At the same time,one of the advantages of the swing arm suspension mobile platform is that it can rotate the swing arm,change the position of the center of mass of the mobile platform,and cooperate with the obstacle-surmounting strategy to complete the obstaclesurmounting It can carry the wounded or materials,and be qualified for the tasks of field transportation,rescuing the wounded,exploring unknown environment and so on.The motion control method based on driving wheel speed is usually used for mobile platform,which is simple and easy to implement,but when moving under complex terrain,the mobile platform has redundancy and the wheel-to-ground contact condition of each wheel is different Therefore,the wheel speed can not be accurately distributed,and the drag phenomenon will occur,resulting in low energy efficiency,and even a large deviation between the actual motion trajectory and the desired trajectory,resulting in low control accuracy.Therefore,the motion control of mobile platform is the precondition for mobile robot to perform other tasks,and is also the basic problem in mobile robot design.The main work of this paper includes:(1)firstly,the structure of the mobile platform and the hardware of the control system are introduced.The motion ability of the mobile platform is analyzed,which provides theoretical support for the configuration control strategy of the mobile platform.(2)The kinematics model and dynamics model of the mobile platform are established.Based on this,the control method based on the single wheel Torque is proposed to overcome the shortcomings of the previous control method based on the driving wheel speed The force coordination is realized and the traction efficiency is improved.(3)a motion coordination algorithm between the rocker arm and the obstacle-surmounting wheel is designed,which makes the obstacle-surmounting wheel output appropriate auxiliary torque during the obstacle-surmounting process,so as to ensure that the rocker arm does not need to output excessive torque to damage the motor and prevent the sliding phenomenon.Taking the upper and lower steps as an example,the obstacle-surmounting strategy is designed.(4)the control system software of rocker-arm suspended mobile platform is designed,and the control system structure is introduced firstly.Then the man-machine interface is written by Qt,and the functions of each part of the interface and the operation of the remote control handle are introduced.Finally,I chose Ubuntu Linux as the development platform of the control program and introduced the function of the related threads.