| Tracked mobile robot has the special mechanical structure which has a larger contact surface with the earth. It can adapts to a variety of complex and diverse road, also can work in harsh environments or in the field. Tracked mobile robot is superior to other mobile robots especially in the off-road, climbing, stair climbing ability.It is designed and realized the tracked mobile robot motion control system based on TMS320F2812 as the main control chip in robot product development background. In order to further enhance the performance of the robot, it is researched kinematic model of mobile robot. The main content of this paper are as follows:Firstly, it introduces the design program of tracked mobile robot control system based on TMS320F2812 combined with the design requirements. It made the right selection on the robot drives, actuators and sensors of two control units, also accounted the parameters of the motor and drive according to the system performance requirements.Secondly, the hardware part of tracked mobile robot control system is designed with modular design idea. It gave circuit design and conducts a detailed analysis of central processing module, driver module, communication module, shift control modules and position detection module and gave the hardware debugging and analysis. It is designed motion control software based on CANopen protocol with CCS3.3. It also gave the detailed description to the software process and the implementation method of the two control units, and gave software debugging and analysis based on performance indicators.At last, it is researched control method of the tracked robot based on kinematics, established a straight-line running kinematics model of tracked mobile robot, designed the controller of the robot's linear path tracking and verified the effectiveness of the designed controller according to the simulation. It provide theoretical basis to increase the autonomy of the robot in the next robot product. |
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