Research And Implementation Of Movement Mechanism And Control System Of Versatile Mobile Robot

Mobile robot is one of important branches in the study of robotics,and it is a composite system which integrating multifold functions such asapperceiving environment, dynamic decision and programming, actioncontrolling and performing. This thesis takes the mobile robot whichdesigned and developed by ourselves, as an object of study. The softwareand hardware platforms of motion-control system, sense-measurement andnavigation system, mobile-manipulator-control system are designed.Several key technologies including navigation strategy of mobile robot,high precise position control strategy of traveling wave ultrasonic motorare researched. Moreover, this study puts forward a novel high preciseangular displacement sensor. The major contents of this thesis are given inthe following aspects:(1) Progress on research and application of mobile robot and thehotspots on mobile robot field are described and. analyzed. The contents, emphases and technical innovation points are advanced.(2) The Wheel-model moving mechanism of mobile robot is analyzedin detail. The machinery structure design is completed using AutoCADsoftware and the kinematics and dynamics of the system are researched.The integrated design of control system is completed on the base ofselecting motors, sensors and controllers.(3) The motion-controlling system of two-wheel differential drivingmobile robot is designed. A novel design of DC motor's driver based onCPLD is introduced. Moreover the paper takes experimental study onposition and speed control of robot.(4) The software and hardware platforms of sense-measurement andnavigation system are completed.(5) Different wall-following strategies, line-tracking navigationstrategy and object-tracking strategy are designed, and theoretical andexperimental study is completed.(6) This thesis makes experiments of running character, speedadjusting character, transient character and stepping character on travelingwave USM using micro-step control method under variable loadconditions and temperature. Moreover this study puts forward a novelcontroller design method for reactive stepping motor using single chipprocessor and EDA technique.(7) This thesis puts forward a novel high precise angulardisplacement sensor. The machinery structure and interface circuit of the sensor are designed.The mobile robot designed in this thesis can program online andrunning offiine which ensure the human-robot interactions and robotautonomously motion. The robot can also act as the base of deep researchon the theories and technologies of mobile robot. The high precise angulardisplacement sensor, micro-step control system of USM, novel controllerof reactive stepping motor put forward in this paper are significative notonly in mobile robot field but also in industry field.