Research On The Control &Communication System Of Tsr-1 Micro Soccer Robot

The paper firstly introduces the soccer robot types and its working modes. Secondly, detailed analysis of the structure of micro-soccer robot system and the importance of developing the low-level control system of robot vehicle are presented. Finally, research on low-level and communication subsystem of TSR-1 soccer robot is laid out in detail in each chapter. The main task of the control system is to control the velocities of two motors of the robot according to the commands received from the host PC, so that the trajectory required by the decision-making subsystem is completed. According to the main idea of how to design TSR-1 soccer robot vehicle, the article analyzes the motion performance of the vehicle, briefly introduces the mechanic designment and moving element designment, presents in detail the hardware designment theory and controlling theory in low-level control system of soccer robot subsystem. Based on the motion performance of TSR-1 soccer robot system, how to debuge soccer robot, how to make decision-making element more effective, and how to make the decesion-making element and the soccer robot teams more cooperative are fully presented and discussed in the paper.A micro-controller based on 87C196KC and LM629 is presented in the paper. With the help of the motion controller it not only simplifies the design of the hardware and software of the control system but also enhances its reliability and performance. Experiments show that the micro soccer robot controller possesses quick response, high control precision and high servo rigidity. It has also a good self-adaptability. The stall problem of the motor is also solved effectively.The paper introcuces the designment of the hardware and the related development of the software. All programs are written in form of module, which will do great advantage to the software's debugging and updating. The flow charts of principal modules are presented in the paper. The article also carries out a analysis of communication subsystem and the charger, discusses the disturbance of communication subsystem and it's reliablity, presents the designment of a set of communication subsystems. The analysis of lithium battery and its performance are especially presented here. The charger was designed with MAX1757 as the basis.