| This paper present the establishment of mathematical model of intelligent inspection mobile robot based on embedded system, which can be used in an industrial complex circumstance, and design a robust controller. A temperature measured device is designed based on MCU system, and connect with a wireless modules through serial communication, and can communicate with mobile robots. All can lay the foundation for a more in-depth inspection of mobile robot and its application.The mathematical model of the four-wheel driving mobile robot is established, which includes kinematical model, dynamic model and motor model. The kinematics model is established through the establishment of coordinate system, and coordinate conversion. According to the basic dynamic model, the various parameters of the mobile robot will be determined. Mobile robot driven model is determined according to the mathematical model of motor and the relationship between the motor output torque and the driving wheel.A robust controller is designed based on the mobile robot's mathematical model. Because the mobile robot suffered the uncertain friction, one robust controller should be designed. In addition, another H∞controller is designed based on feedback linearization and LMI and other methods. According to the simulation's results, robust controller has a certain role, and can inhibit the external interference.The paper also design a temperature detection device based on MCU. The device is designed based on 8051, and connects the temperature sensor and a wireless module. The detected temperature can be displayed through the single chip, which connects with wireless modules through serial communication. Finally, the data will be sent to exterior through the wireless module. |
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