| A Wheel-legged Mobile System Based on Spherical Gear is a project supported by National Science Foundation, whose main aim is to establish a new mobile platform, which is based on spherical gears and has the combined function of walking and rolling. The project mainly includes the design of mechanical structure and control system. The main content of this article is the designing of the control system.Firstly, the mechanical structure of Wheeled-Legged agencies and driving principle of the mobile platform is simply analyzed. Secondly, a coordinate system which describes the single-legged posture is established, and the transform relation between single-legged posture and driving agencies is studied, and an interpolation algorithm of single-legged posture is achieved. Based on the analysis of the walking way of the mobile platform, the relation between walking ways and single-legged posture is studied, and the parameters of single-legged posture are achieved.After the control algorithm is established, a designing method which is a Combination of functional designing and processing designing is adopted to design an embedded hardware flat by focusing on characteristics of functional module. This hardware flat is based on AT9140008 MCU. At first, each functional module in the control system is analyzed, and then, the microchip is selected and specific circuit is designed. At lastly, considering the real-time requirement and the complex structure of the control system , aμC/OS-II real-time operating system is transplanted to the control platform based on AT9140008, and then the applications of multi-tasks services ofμC/OS-II in the platform control system is studied.Based on the theory achievement, a control system of Compound Wheel-legged Mobile Platform is developed. The control system can receive instruction from remote control system, and fulfill the function of walking and rolling. |
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