| A tracked mobile robot has been investigated in this paper, and TMS320F2812 is used as system core to build its motion control system. The planar motions of the tracked mobile robots are analysed in Kinematics, and skid steering has been adopted to analyse the steering of robots in dynamics. A motion control system, specifically fit the differential drive nature of the tracked mobile robots, has been proposed, and corresponding design for both software and hardware are also given. PWM control of DC motor has been discussed and analysis on speed/current double closed-loop control has been done. Emphasis has been placed on the system hardware and software design. The hardware system is capable of PWM power convert, Armature current measurement of the motor and system failure protection. Closed-loop control algorithm has been realized in the DSP program. What's more, the debugging/monitoring software based on MFC is capable of parameter setting, curve display and communication. Finally, the system has been tested and the results are given. |
PDF Full Text Request