| Wall-climbing robot is one kind of the utmost robot, and was widely used in nuclear industry, petrifaction factory, construction industry, fire fighting department and shipbuilding industry. Because of its small size, good performance of invisibility and maneuverability, inchworm-like wall-climbing micro-robot has glamourous future in military affairs and anti-terror application, correlative research is count and signality.Control system is one of the keys that affect the performance of the robot. Because of the particular application, wall-climbing micro-robot has restrictions on speed, size, weight and power consumption. Because of its high speed, small size, the ability of controlling multi-motor, TMS320F2810 was chose to cooperate with low power consumption single chip ADuC842 to form a high-powered control system.Firstly, the main structure of the control system was designed, and some of the hardware circuit was shown. The robot controller adopts a kind of two-level structure. The top level was the host controller and motor driver, the main program and motor servo arithmetic program running in it, and also receive command from the remote computer. The lowest level was two sensing system, fixing on foot of the robot, gathering and processing information from multi-kind sensors, and also controlled the pump and valve.Secondly, structure of the robot control software was analysed, basic robot gaits was decided. The software was divided into a few modules, and communication protocol, motor servo module, sensor information gathering and processing module were designed. A kind of finite state machine (FSM) was employed to finish the robot basic gait decompose and plan.At last, an experiment system was established, Li-battery and control circuit was integrated into robot, finally finished sensor calibrate experiment, basic gaits like peristalsis, overturn, swerving, surface transition and motility experiment of the robot, The result confirmed the validity of the control system designing. |
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