The Research And Design Of Motion Control System On The Wheeled Mobile Robot

As an important branch subject of robotics, the motion controller technology of mobile robot has a long history and will be widely used in the future. Based on referring to a great deal of the information and the research of the technology and development of mobile robot available, a two-wheel differential driving mobile robot was designed in the work presented here.The identity of location and position is a fundamental problem of the motion controller system of mobile robot. In this paper, based on the research of two-wheel differential driving mobile's motive equation, a compact and practicably equation was induced. This method can be used in a high performance micro-controller to perform real-time calculation and will show its efficient advantage.The motion ability of a wheeled mobile robot is determined by its motion controller system. Based on the utilization of a PC and a slaver micro-computer, a control system for a wheeled mobile robot with two stepping motors is designed and implemented. The control system is able to control the turning and speed of the two motors by interpolation technique. The source motion control program is written with these motion functions on PC and it is complied to object code. The code is transmitted to RAM of micro-controller through serial port of PC. The micro-controller has two main functions. The first is receiving data or instructions from PC. The second is executing the instructions. The step-motor can be controlled by STC89LE52 with its out put module. This kind of motion controller has the features of lower cost and powerful function. So it has wide application prospect.