The Research On Control System Of A Mobile Robot Of Compound Wheels And Six-bar Mechanism

For its advantage in the field of exploration, military scout, nuclear engineering and so on, mobile robot has attracted more and more attention of researchers and become the core technology of the international competition.The autonomous mobile robot should have strong ability to adjust the unstructured environment.The present researches are most dedicated to the smart of the mechanism of the robot and the performance of the control system to improve the ability of adjusting the ground environment. The thesis made a comprehensive study on control system of wheeled and six-bar compound mobile robot.Firstly, based on this robot, in view of pitch,lug boss and trench, the obstacle crossing capability of robot were completed. The research in gaitplanning were completed. Joint motor movement sequence of three gait were detailed analyzed and the path plan was completed. Parameter of movement were provided for control system.Secondly, the hardware architecture of control system was proposed. Based on PC104, hardware of embedded robot control system was developed. The function of plan module,sensing system and executive system were detailed analyzed. For the demand of robot, the control plate of motor and connection circuit of sensor were developed. Many kinds of sensors were used.Finally, the software architecture of control system was proposed. Based on RTlinux, the software of embedded robot control system was presented. Working mechanism of Linux and RTlinux were detailed analyzed. Key technologies of real_time system was researched. Realtime thread was completed in RTlinux kernel. Gaitplanning, servo-control,path planning and sensing information acquisition were completed. It is better for debugging of control system.