Design And Implementation Of 2-DOF Pan-Tilt With Integrated Drive-serve Controller Based On DSP

One of the most important research fields in robot area is robot visual servo control, and a pan-tilt is the main and key support to realize it. Traditional pan-tilt is mainly used for monitoring and safety protecting in large-scale spaces, and always with large size, complicated structure and limited range of speed adjustment, that is to say, there are few pan-tilts can be used for small-sized mobile robots to realize robot visual servo control. On another hand, specialized pan-tilts made for small-sized mobile robots in foreign countries are difficult to be adopted, for their high product cost and delivery problem. As a result, there is very important application value and meaningful influence in researching and developing small-sized robot pan-tilts with accurate localization, large range of speed adjustment and low cost. Therefore, this thesis mainly analyzes and investigates one kind of 2-DOF pan-tilt with integrated drive-serve controller based on DSP. The main research achievements are as followings:According to all functional demands and related, an expected technology criterion and specification have been proposed as a basic goal in this thesis. Based on the goal and by comparing many examples, the architecture of pan-tilt was established, and the scheme of adopting DC motors with gear reducer, incremental encoders, and an integrated drive-serve control system scheme based on DSP were proposed.In particular, the kinematics model based on D-H method and inverse kinematics model based on geometry were analyzed and established, and the work space of pan-tilt was analyzed by Monte Carlo analysis method. Based on the Matlab simulation of work space, the bar length solution method of pan-tilt was established. On the base of above analysis, the joint space trajectory planning algorithm in polynomial interpolation and the rectangular coordinates space trajectory planning algorithm in arc interpolation were mainly studied. The simulation results show that joint space cubic polynomial interpolation more applicable for the trajectory planning of pan-tilt, for its low computational complexity and simple control strategy.Based on above theoretical analysis, the structure design and implementation were introduced in detail. A structure based on differential gear train was designed, and another one based on simple gear transmission was designed and given also, the crucial pan part and tilt part were designed and introduced, the 3D model and the prototype were presented.The integrated drive-serve control system based on DSP was researched and developed. The main hardware frame, including the core processor TMS320LF2407DSP, the DSP interface module, motor driver module, RS232 module, sensing module and power supply module, was implemented and introduced in detail. Based on the hardware platform, the PID controller, the fuzzy controller and the fuzzy-PID controller according the mathematic motor model were respectively researched and developed. Simulation results show that the fuzzy-PID controller could satisfy the dynamic and accurate needs of pan-tilt motion controlling, with its high accuracy of control and strong adaptivity.