Research On Controller For Self-Reconfigurable Tracked Microrobot

Recently, research on self-reconfigurable robot is more concerned about, self-reconfigurable robot can change its configuration for different function based on command or environment. But present self-reconfigurable robots are restrict by controller, most of them consists of simple functional unit module; reconfiguration is realized by machinery; they are not able to locate and identify each other. Tracked micro self-reconfigurable robot (TMSR) has more functional unit module, and is a locomotive self-reconfigurable robot. Traditional robot controller is challenged.Aim at requirement of TMSR, a research on multi-layer controller, integrating logic controller such as TI DSP C2000 series, ADSP-BF533, ARM9 SOC S3C2410A and MCS-51 to realize various functional unit module and identification between modules, is a better way to face the challenge.First, perform analyze on machinery and function of TMSR, get plot of structure and sub-function. The controller is double layered system; sub-function modules are at the bottom and central controlling module is on the top. Sub-function modules are responsible for unit module functions; central controlling module performs strategy and process control of reconfiguration.Second, perform research on sub-function modules. Design hardware and embedded software of metering, motor driver, image processing module, and perform experiments on them.Third, perform research on central controlling module. Design hardware and software used for communication between central controller and sub-function module, and communication between central controller and upper machine. Design embedded operating system, device driver and applications on central controller. Do experiments on them.At last, integrate all module of controller, set up experiment platform, perform experiment on entire controller, prove validity of controller hardware, embedded software and embedded system.