| With the development of science and technology, more and more research has been focused on robotics, especially on mobile robotics which is an important branch of robotics. Motion control is an important subject in the mobile robot research. Motion control, rotating speed-measure and serial communication are studied on SY1012 mobile robot.1. Based on pose formula of the two-wheel mobile robot, straight and arc motion are analyzed. Motion of the robot at any initial speed or pose is analyzed. Kinematics analysis and kinematics equations are also given. Experiments on Motion control of two-wheel mobile robot are done by using TMS320F2812 controller and PWM.2. Speed-measure control is studied in order to feedback control and localize mobile robot. Measurement of the speed, direction and angle are analyzed by using Photoelectricity pulse producer. The speed of two-wheel mobile robot is measured by using the EV module of TMS320F2812.3. Serial communication interface is designed, which is in order to transfer the control information and speed data between center processor and motion controller in the mobile robot. The control information and speed data between robot center processor PC104 and controller TMS320F2812 are received and sent, which is implemented by using the SCI module of TMS320F2812 and MSComm supplied by VC++6.0. |
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