| In response to mechatronics education reform, Mobile Robot project design is introduced for course experiment of mechatronics in the thesis, and an application-developing platform of laboratorial Mobile Robot control system for mechatronics experiment has been constructed and developed. By analyzing the design mode of existing Mobile Robot applied platform both at home and abroad,a design plan of overall platform of Wheeled Mobile Robot is provided, which is very suitable for mechatronics project design. According to the design plan, a hardware developing-platform by using P89C51RD2 micro-controller is designed, which is composed of PWM control of DC motors, Wheel speed detecting unit, the analog and digital signals input/output for various sensors' and actuators' expanding, and a serial communication interface, etc. A mini real-time operating system has been transplanted and built on the hardware-platform, and some functions are expanded and some mechanisms are improved for the OS to be more suitable for the software platform of Mobile Robot. In addition, an Integrated Development Environment for software is developed on PC to support students' application software design. Finally, the way and its characteristics to develop an Mobile Robot application system with our developing platform are demonstrated by an application instance from the following aspects: application system analyzing, task dividing and realizing, the communication mechanism between tasks, and system operation performance, which verifies the developing platform's validity. |
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