Research And Design Of Modular Robot Motion Control System

As the development of science and technology, robot is widely applied in many ways. and robot controller is the core constituent of the robot, which is the decisive factors to the robot performance. The definition, composition and the application of the robot are introduced, the present situation of the domestic and foreign robot technology is elaborated. focused on the robot controller characteristic and the question, the modular robot control system with open structure is proposed, and the key technology of the control system is analyzed.Firstly, the kinematics model and inverse kinematics model of the modular robot is established based on D-H method, the solution process of the inverse kinematics equation is explained, and aiming at its non-solution or the multi-solution situation, the feasible solution and the optimal solution are analyzed.Secondly, the construction principle and the characteristic of the cubic uniform B-spline curve are analyzed, the joint space trajectory planning algorithm of the modular robot based on B-spline curve is designed, the Cartesian space trajectory planning algorithm of the modular robot is given, the characteristic of the joint space trajectory planning and the Cartesian space trajectory planning are compared.Thirdly, the self-adjusting universe fuzzy control algorithm based on the dynamic membership function is introduced. To meet the needs of the accuracy, timeliness and auto-adapted request of the robot motion control system, the motion trend of the robot is analyzed, the self-adjusting universe fuzzy control algorithm based on the motion trend analysis is proposed.Finally, the modular robot with three level multi-CPU structure is designed. The first level is the computer, where the system management, coordination control and man-machine interaction are realized; The second level is the region controller, mainly composed by DSP(TMS320LF2812) module, Ethernet module, CAN module and power supply module, the kinematics model and inverse kinematics model, trajectory planning and the communication between the lower level and upper level of the modular robot are realized at this level; The third level is the intelligent module, mainly composed by DSP(TMS320LF2407) module, driver module, CAN module, sensing module and power supply module, the motion control, drive and the communication with the region controller of the modular robot are realized.Through the Matlab software, the kinematics model and inverse kinematics model, trajectory planning and the motion control algorithm of the modular robot are simulated. The simulation results demonstrated that the algorithm of motion control and trajectory planning proposed in this paper has advantages of high-control accuracy and strong adaptability. Keywords:modular robot; motion control system; kinematics; trajectory planning; motion control...