Research On Control System Of A Multilegged Walking Robot

To develop a prototype of "4+2" integrated arm/leg multilegged walking robot, an efficient base hierarchy control system is needed to implement the motion control for the robot. This thesis focuses on realization of coordinated control for multiple joints, and implementation of communication within the hierarchical control system. The mechanical structure and movement characteristics are firstly analyzed to identify the function requirements of the control system for such a robot. Based on the above work, a hierarchical control architecture is designed. A hybrid-closed-loop based servo architecture is adopted to implement the coordinated control for the robot. Based on the interpolation algorithm, the sequence of the maximal pulse number is calculated, and then the other pulse sequences are determined according to the proportion of the pulse number. The adjustment method of the servo parameters is analyzed to make the response of all joints coordinated. The signals from sensors are sampled and processed to acquire joint angles, obstacle distances and touchdown status of legs. The communication protocols are stipulated. The initial program, the interrupt service and the command frame analysis routine are written to realize communication. Finally, the robot walking speed is tested, and the method of improvement is discussed. The experimental results verify that the control scheme is feasible, the algorithm is effective, and the servo parameter regulation is correct.