Quadruped Bionic Robot Motion Control System Design And Realization

Moving flexible and having strong adaptive movement ability to the complicated terrain, quadruped robot has wide application in the future. Because the mechanism and control of the quadruped robot are complicated, and relevant technologies are immature, the application of the quadruped robot still within the laboratory limits. The quadruped robot developed generally moves slowly, has poor adaptive motion ability to terrain and has poor load. According to the problems generally existing in most quadruped robots; this thesis emphatically studies the motion control of the quadruped bionic robot. The main content is as follows:1. Based on lots of investigation and analysis of the quadruped robots both home and abroad, the overall design plan of quadruped bionic robot is proposed. By analyzing quadruped mammals, typically physiological features of dog, an experimental prototype of the quadruped bionic robot is designed. According to the function requirement of quadruped bionic robot motion control, a hierarchical and distributed control system structure is given. And the scheme of data communication based on CAN bus and serial is designed according to the characteristic and requirement of the information transmission of the control system.2. Bionic CPG (Central Pattern Generator) algorithm is studied, which help to realize coordinated motion for multiple joints of the quadruped bionic robot. The algorithm can be solved at a high speed by designing a joint motion controller with DSP (Digital Signal Processor) as its processor.3. In order to control the single joint's motion of the robot, a joint servo controller which integrates motion control and driving of the DC motor is designed. A digital servo control system is constructed, which consists of single-chip microcomputer AT89S52, dedicated motion-control chip LM629, integrated and intelligent power output amplification circuit LMD18245 and Incremental Optical Encoder.4. The real-time software of the motion control system is designed, which consists of CPG algorithm solving module, CAN bus communication module, Data Acquisition module and servo control module etc. For the sake of improving real-time performance, both timer interrupt and outside interrupt are used.