| The main content of the thesis is to design an omni-directional mobile platform and more in-depth study of the performance and control algorithm of this platform.This thesis designs a type of simple and practical omni-directional wheel, under deeply studying the principle and application of omni-directional wheel. Though the analysis on the wheels assembled and its performance, a four-wheeled omni-directional platform was studied deeply under the study background, including the mathematic model of dynamics and kinematics, the performance and characteristic about movement and the controllable capability of the platform.According to the demand of the platform, we used DSP (digital signal processing) chip as the core controller to achieve high controllable precision, high-speed, high stability and the characteristics of multi-motors coordinated control for the motion control system. The bootstrap circuit and H-bridge were designed to meet the demand as the systematic expansion.The thesis also describes the soul of overall design and the structure of the software, including the communication protocol with the host computer, the algorithm for motor control, and so on. The code was compiled by the assemble language under TI DSP software development environment CCS (Code Composer System) to realize the function of each modules.In the process of designing software and hardware, achieve a better balance between hardware and software resources to meet the demand of the system. |
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