Imitation The Earthworm Mobile Robot Control System

In order to adapt the progress of science and technology and the changing of nature environment,micro-system of engineering get high attention more and more by many countries's scholars.The system can go to the unstructured environment such as complex structure and the narrow spaces,Which is very significant for post disaster search and rescue,archaeological prospecting,industrial manufacturing,biomedical,and underwater expedition.Earthworm-like micro-robot which is designed by simulating the motion mechanism of earthworm can go to complex unstructured environment,which has unique application.The earthworm-like micro-robot researched on this paper is composed of several cell,four piezoelectric actuators drive the trunk of the robot,and four SMA spring actuators drive the head turning,control system is the key part of the robot which can affect the performance of the robot. By adding control signal on every cell,can control the expansion deformation of the actuators,and the actuators can drive robot movement.Fist of all,according to the motion principle of earthworm,analyzing the motion characteristics of the robot,established the motion model of the robot.Then,by analyzing the model of the robot,designed the control system,basing on the TI Company DSPs TMS320F2812,expand the circuits of D/A,A/D,RAM.And the main signals of control are actualized by CPLD.The communication between lower(DSP) and upper computer and DSP and peripheral circuits is completed respectively by SCI port,McBSP and SPI.Using the method of DSP digital control,which needed not complicated analog circuit and has strong inhibition to noise signal,enhance the reliability of the system.Finally,experimentized the control system,and research the result of the experimentation.The main work of the research is the the combination of hardware and theoretical of control system,and realization of software algorithm,which lays the foundation for subsequent improvement.