Multiple Robot Joint Coordination Control System Of The Research

Multi-legged robot possesses high research value because of strong adaptability to various environment. How to effectively cooperate multiple joints is becoming the hot topic of researchers. On basis of power-divided controlled mechanical structure of all-terrain multi-legged robot, this paper focus on the study of multi-joint cooperative control system.After analyzing specific functional requirements of control system, three hierarchical control system is presented, which utilizes PC and STM32F103VET6as the main controller and CAN bus as communication mode. Meanwhile, four critical techniques for multi-joint cooperative control system is proposed, including study of coordinated gait, modularization design, accurate and coordinated control for multi-joint and cooperation for control signal flow.Under study of coordinated gait, the method of gait generation and control in serial different conditions is given by the analysis of static stability, which provides a fundamental platform for multi-joint cooperative control. Modularization design is used in hardware, including communication module, sensor module in the coordinated control layer, driver and control module in joint motion layer. Components selection and circuit design are accomplished according to functional requirements of every modular. Simple joint control algorithm based on improved PID is put forward in the software design, which can improve precision and dynamic performance for control system. Meanwhile, corresponding multi-joint coordinated algorithm is designed and software implementation method of control signal flow cooperation is confirmed.In the end of this paper, experimental platform of multi-legged robot is built. Test results of single joint control, communication test, coordination of control signal and multi-joint coordinated control demonstrate the feasibility of control system. Software design of system is refined to improve real-time performance and reliability of coordinated system, which is verified through comparative experiment.