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The Research And Design Of Motion Control System Of Searching-robots

Posted on:2012-01-27Degree:MasterType:Thesis
Country:ChinaCandidate:C Q MaFull Text:PDF
GTID:2248330395483537Subject:Electronics and Communications Engineering
Abstract/Summary:PDF Full Text Request
Searching-Robots is currently the focus projects in the field of robotics. For the searching-robots, this paper has presented a solution of motion control system and made a development of software and hardware for the system.The hardware part of the motion control system of Searching-robots includes upper computer module and movement module. The movement module of searching-robots use the four-wheel platform. In movement modules on the basis of kinematic modeling, it determined kinematic equation of the four-wheel movement platform through introducing Ackerman constraint. Upper computer module with movement module communicate with each other,and joint action, to realize module movement in the control of upper computer. Upper computer assume a lot of data operation and wireless communications tasks. This article chooses the powerful single board computer. The core of movement module is reinforced SCM.The SCM is able to follow the instructions of the upper computer,such as go straight and turn. At the same time, the speed sensor of movement module is testing real-time speed for control-motor of the robot. Through the compare with velocity pulse of the upper computer,it can adjust the movement of motion platform.The software part of the motion control system of Serching-robots use the modular design. Developing the software of upper computer uses C++language. According to the train of thought of the operator.it will chage motion instructions into the corresponding velocity pulse,and sent to movement module by way of communication mode of serial port. The software of movement module mainly complete the adjustment to Dc motor speed,and control the peripheral components such as speed comparator.Research shows that,the motion control system of serching-robot developed in this paper is reasonable in structure and is simple in operation.It can betterly achieve the goal of exactly movement of searching-robots.
Keywords/Search Tags:Searching-robot, control scheme, modular, serial communication, uppercomputer, movement module
PDF Full Text Request
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