Design And Research Of The Wheeled Robots Motion System

With the study of the artificial intelligence and the control of robot, robot controltechnology has been paid more and more attention, wheeled robot motion control is ahot research. Wheeled robot is a robot, which combines mechanical, electronic,computer and other technology, widely used in various fields. After reviewing a largenumber of data which based on the analysis of the characteristics of the mobile robotand control technology development status, design and study the wheeled robot motioncontrol system.The contents of In this paper includes the following four parts。Part I: This paperdescribes motion control of wheeled robot control system structure and the controlmodel; Part II: mainly introduces the composition and functions of the parts of thewheeled robots motion control system, use the AT89S51microcontroller as the core ofthe main controller of the wheeled robots motion control system, describes themovement operative part stepper motors and stepper motors drives working principleof the motion control program based the master controller; Part III: introduces theinterpolation algorithm which used widely in the CNC system, using the interpolationalgorithm to achieve the wheeled robots motion control, and design controlprocedures, using the digital integrator interpolation algorithm to achieve the wheeledrobots motion control; Part IV: In this paper proposed the control system blockdiagram of the controller timing pulse diagram and algorithm implementation process;completed a large number of experiments, the experimental analysis, improve thealgorithm and enhance the speed of the interpolation algorithm.The design and research of this subject focus on engineering applications, themotion control algorithm adopt the digital interpolation algorithm which is commonlyused in the numerical control systems, the interpolation algorithm was used for a longtime study and experimental demonstrated, in practice a wide range of applications.