Study On The Distributed Control System Of Robot

The modern robotics is a hotspot in the field of automation. With the development of the science and technical, the robot will be more and more applied to the all aspects of human society, such as industry, agriculture, department of defense, scientific experiment and service profession, and the mobile robot is the important embranchment for the robotics. At the same time, because of the more flexibility, the mobile robot research has been a hot of robot technology. In this paper the system of intelligent robot motion control based on DSP chip TMS320F2812 is focused on.In this project, the system of intelligent robot motion control is designed by adopting the special motion control chip TMS320F2812, which is based on DSP. The system of intelligent robot motion control uses distributed structure which includes the environment information apperception module, the scheme module and the motion control module.The experimental vehicle of Mobile Robot with Wheeled according to the experimental research requirements have been designed and manufactured. The experimental vehicle is composed of control part and mechanical part. Have designed the interface of ultrasonic transducers of measuring distance and pulse encoders of sampling velocity which use the DSP as the processor; And have expatiated the work principle of measuring barriers, velocity and position; Meanwhile, have designed the accessory circuit of DSP, including power of DSP, CAN communication, drive of DC motor and storage and so on.According to the characteristics of the system of Mobile Robot with wheeled, have expatiated some theories and algorithms of path planning. The theories and algorithms include the fully unknown or partly unknown obstacles space. This paper has proposed the path planning control strategies and methods which include the ultrasonic avoid-colliding of excessive redundancy.The paper has done some experiments with the experimental vehicle according to control strategies and control algorithm which have been proposed before, and gotten the experimental result. And then has chiefly analyzed the outcome of path planning, which includes the diverse analysis between planning path and actual path under the different obstacles environment.The system of intelligent robot motion control which introduces distributed structure simplifies the designer of the system, and is useful to achieve the complex real time task of intelligent control. In this project, we have set up better foundation of the intelligent robot control system, which is the base of the deeper research to the intelligent robot.