The Precision Control System Of Point-to-point Mobile Robot

The precision robot designed point is to develop a plant to replace the poor to engage in the work of the special pipe cleaning machine, but at the same time in the design, the author is not confined to a single design. Category of high-precision robot, as well as point-type mobile robot of their organic integration of key technologies, to ensure the accuracy of the premise, the realization of a point mobile robot structure, I believe that more complex operating environment, the use of open thinking of expanding their functions, applications will certainly be a wide range of prospects.Point the use of master-slave robot's control structure, the analysis comparing the advantages and disadvantages of various types of control after single-chip, combined with this issue, the election of more appropriate control chip Atmega128 Microcontroller and from the single-chip AT89C2051.Communications, in order to achieve real-time control, master-slave serial communication circuits using single-chip, combined with the actual operating environment and host computer communication joined the wireless communications module, and select a more appropriate way radio module; the use of two sets of power program, control panel-type stepper motor power supply and isolated from each other; in selected two-phase hybrid stepping motor for the drive motor on the basis of the complete motor drive circuit design, and a breakdown of motor drive control theory derived .On this basis, in principle, from the circuit design of a master-slave control panel design, the hardware circuit design and good anti-interference, the digital pulse signal in real time, accurate delivery; the use of the stepper drive, the introduction of sub-driver control of stepper motor-driven approach to optimization, so that more accurate movement; to improve the conventional open-loop stepper motor control, such as the introduction of grating sensor and a position controller design optimization, a common campaign to build a closed-loop control system, not only single-chip master-slave control further strengthened after the adjustment of the feedback link, they make the robot motion accuracy has been enhanced.