Based On The Dual-plate Race To Robot Motion Control System Design And Research

With the fast development of new principle in intelligent control, computer network, bionics and artificial intelligence, mobile robot has become the focus in the field of robotics and automation for scholars at home and abroad. Robot competitions are active worldwide and expanded, and this article is based on the Asia-Pacific Robot Contest launched on robotics research.First of all, after analysising the task of the robot competition requirements and rules of the game ,we designed the program of three automatic robots with a slave robot driven group, respectively tactical functional barrier function. Among them, the main automatic's design is the core for the robots, we have simplified the main automatic robot and found kinematics equations of the model.Secondly, we study the competition robot navigation and positioning as a major objectives. We design navigation and positioning of the race machine control functions based on the two-encoder. Through two- encoder we estimate current robot pose and provide an important external basis to design the robot navigation and positioning control.Including positioning theory, the realization of robot navigation, robot positioning error analysis and robot handling accidents.Thirdly, we design embedded control system for robot. The paper designs 32-bit ARM7 microprocessor based on LPC2290 embedded control system. The microprocessor is embedded real-time operating systemμC/OS-Ⅱto increase the system capacity of multi-tasking. System includes hardware design, software design, transplantingμC/OS-Ⅱto ARM7 microprocessor.Finally, control system of robot is designed, including a double-CPU processing mode. The host processor is responsible for task scheduling, ultra-sound barrier, sensor and peripheral circuit, the slave processor is responsible for receiving data from the host processor and make motor realize the robot tasks.