Reconfigurable Modular Robot Motion Control System Design

Modular reconfigurable robots (MRR) are a kind of robots, which have particular modular characteristic. They show the virtues of great simplicity, versatility, stability and low cost. Now it is one of latest branch of robotic research. This thesis studies about the design of modular robots. Firstly, it presents the idea of "modular distributed control system (MDCS)", according to the characteristic of structure and the requirement of functions of modular robots and combining with the virtues of traditional master/slave, distributed control systems. Then, it designs the control systems of modular unself-reconfigurable robots and modular self-reconfigurable robots.In the control system of modular unself-reconfigurable robots, MPU is chosen as controller. RS-232 is used to communicate between modules, and servo motor is adopted as power driver. The achievement of the modular unself-reconfigurable robot and the performance, which is shown by the robot, has proved that MDCS is adoptable and excellent for modular robots. Then the control system of modular self-reconfigurable robots is based on the high performance DSP controller TMS320LF2406. And CANbus is used to construct the communication network. Moreover, because of high performance and efficiency, the BLDC motor is selected as module power driver.The design of the control systems and the achievement of unself-reconfigurable robot will broaden the theory idea about MRR and also supply valued experiences for further research for it.