| The robot control technology is an important branch of the robot researching. It integrates mechatronics, detection and intelligent control. In the background of The Third Robot Contest, Contest robot control platform is designed and made. Main work is divided into two parts:The first part, robot control system is built using 8-bit microcontroller and Complex Programmable Logic Device, which successfully applied to The Third Robot Contest. In the system, AT89S52 with flash memory is used as CPU. In order to enhance the capability of the data processing of the CPU and adapt the request of the multiple function robot, two chips CPLD EPM7128 are used to produce PWM signal for DC-motor timing and extend interface of the Sensor, and the interface circuits of the Sensor are also designed such as ultrasonic, photodetection and infrared etc. along with relevant software design.The second part, capability of three-time contest robot control systems is compared. Embedded robot control platform of low power dissipation and high capability is developed compared with 8-bit microcontroller control system based on The Robot Contest practice. Hardware platform of embedded robot control system is developed using embedded 32-bit processor LPC2136 based on ARM7 that is the center control system, which supports real time simulation. Many kinds of interface of the sensor are designed in the system, and it also adds LCD, which can display real-time running state and parameters of the robot. The system supports real time simulation and debugging, programs flash ROM using ISP, controls speed or direction of DC-motor and helm-motor using inner PWM signals in microcontroller. Embedded real-time operating system μ C/OS- Ⅱ is ported based on the platform of hardware. Tasks are compartmentalized according to control function and resource configuration of the MCU, and robot is realtime controlled according to feedback signals.The contest robot control universal platform can be generally used, ported and extended, which builds the technology platform of embedded control system for the contest robot... |
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