Robot Head Servo Control System

In the Telepresence-Remote Control System of Tsinghua Outdoor Intelligent Motion Robot, we need to acquire images captured by the camera of the Motion Robot Station (MRS) through the directional antenna on the Motion Command Station (MCS). The MRS and MCS, however, may be moving unceasingly, and their relative locations and angles may change at any time. If the directional antenna on MCS could not be directed at the MRS, the images received by MCS will be vaguer or lost, which would negatively influence the operability of the Telepresence-Remote Control System. In this thesis, on the basis of the Telepresence-Remote Control System of Tsinghua Outdoor Intelligent Motion Robot, an embedded image antenna holder control system with rapid response, high-precision, low-cost and small energy consumption is introduced. This system will effectively offset the interferences due to the movements of MRS and MCS, automatically direct the MCS directive antenna at the MRS, and significantly improve the reliability and anti-interference ability of the image wireless transmission.Based on the actual needs of the projects, the overall plan of the image antenna holder control system in the Outdoor Intelligent Motion Robot is discussed in depth in the thesis. According to the overall plan, the measurement control framework has been developed, which mainly consists of the following modules:microprocessor system, power supply system, reference voltage system, power on reset system,8-bit digital input system, D/A, A/D, serial port expansion and communication system, and CAN bus communication system. The data collection for various sensors such as GPS, electric compass and code disc has been completed, and the control over the controlling and output signals of the motor driver has been realized. The motor of the antenna holder could be driven through the D/A power amplifier, and the location of the image antenna could be detected through the code disc, which could form a closed loop negative feedback control system.The image antenna holder control system discussed in the thesis could basically meet the anticipated design requirements, and has been successfully applied in the Telepresence-Remote Control System of Tsinghua Outdoor Intelligent Motion Robot. It has provided experiences and references for the further research and development of telepresence-remote control system of intelligent motion robot.