Multi-dsp-based Intelligent Robot Control System

The Modern Robotics from 1940s is the research hot of automation. The intelligent mobile robot is attached importance to because of its function in serving, artificial intelligence etc. The system of intelligent robot motion control based on DSP chip TMS320LF2407A is the topic in this paper.In this paper, robot' s definition, class and the research status of mobile robot through out and in, then the developing direction of native mobile robot research is to use the smaller and grander DSP to replace MCU. The characters of the intelligent mobile robot based TMS320LF2407A DSP and its future is the topic in the paper.In this project, the system of intelligent robot motion control is designed by adopting the special motion control chip TMS320LF2407A, which is based on DSP. The system of intelligent robot motion control introduces distributed structure which includes the environment information apperception module, the scheme module and the motion control module. The environment information apperception module is used to gather environment information outside the Robot. The scheme module is used to scheme all tasks of the robot. The motion control module includes serial communicate bus interface module, CAN bus interface module, signal process module, D/A transform module and feedback input module. The serial communicate bus interface module is used to communicate with the host. The CAN bus interface module is used to communicate between two DSP. The signal process module is employed to achieve the control arithmetic and to transform the motion control instruction into the digital signal of motor controlling. The D/A transform module is employed to transform the digital signal into the analog signal forachieving the better motor motion character. The feedback module receives the feedback QEP signal from the encoder, and achieves position servo-control.The digital PID and its improved algorithm control strategies are investigated in a deep going way. The control algorithm and real-time control method of neuron adaptive PID controller are proposed according to new artificial intelligent theory. Thus the self-adjustment and adaptive problem of servo controller parameters is solved.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.