Research On DSP-based Control System Of Hexpod Robot

The study of hexapod robot is more and more popular in the field of bionic robot Research. it can play a better role to across the barriers than other robot, It is used in scientific research expeditions, military detection, disaster rescue and other fields. It's one of the most important in the Hexpod Research, and can improve the robot's adaption in the wild. On this paper, hexapod robot obstacle process is analyzed. The design of hexapod robot prototype and control system was studied.In the beginning of the paper, a series of experimental platform for research are presented.The platform contains mechanical prototype, the control system and simulation system. A chain structure of hexapod robot used for experiment.The structure is divided into three parts: head, thorax and abdomen which are linked by drive motors. The motion control system was designde base on TMS320LF2407A .The system expand the 6 channel control signal into 48 channel control signal by using decoder.and then a switch signal reading circuit was also added to the system which was use Max6818 chip. The simulation system is an OpenGL-based Windows application which is used to validate the hexapod robot motion controlsystem to be introduced.The system references the way of Pro/Engneer's modeling approach and Adams's motion simulation,.It can used in simulation and analysis of the movement of trajectory .In hexapod rpbot kinematics anslysis, the hexapod robot coordinate was divided into body coordinate system and legs coordinate systems .In each coordinate system the transformation matrix between two adjacent joints was established.And the speed and acceleration which is related to control system are ansysis.All of these meet the need of control system. Then, a TMS320LF2407A-based motion control system is established, the system includes sports conditioning control module, the rhythm control modules and adaptive control module.The adptive control module is used for make robot mechanical legs and body movement to adapt the ground and body control. The rhythm control module is used for controlling the robot's gait. The motion control module is used to adjust the rhythmic motion control module regulation of adaptive modules.The multi-level motion control structure for the hexapod robot motion control provides a solution for the follow-up study. At the end, the control scheme is verified by simulation system and prototype.