Design And Implementation Of Motion Control System Of Hexapod Robot

In the paper, we design and implementation of a real-time and with high reliabilityhexapod robot motion control system in order to solve the problems in the domestic thatlack of transportation of materials for large loads of six-legged robot motion controlsystem. The system uses a master-slave answer mode to control the underlyingsubsystem, the system contains an internal model control mechanism, a sound gaitplanning central control mechanisms and security control mechanisms, internalcommunications system uses high-speed, high reliability of the CAN bus, only makesthe system can complete the six-legged walking robot normal gait control tasks andswitch between various gait control tasks, but also enables the system has a strongsafety, practicality and a certain reliability and timeliness.Firstly, from the perspective of the requirements analysis, This article elaboratedhexapod robot needs to complete the function explained, Through the motion controlsystem operating environment analysis, combined with motion control systems need tomeet the performance indicators, elaborated motion control system for the completionof six-legged walking robot control tasks should have the function modules, as well asthe specific tasks of each functional module.Secondly, this article use of top-down design ideas, analyzing the internal design ofthe motion control system, gives the tasks and interrupt division of the whole system.Simultaneously, this article elaborates the entire motion control system design principlesand processes from three aspects of the motion control system synchronizationmechanism design, motion control system logic design and motion control systemcommunication design.According to the motion control system design, this paper describes in detail thevarious modules of the system implementation process. Meanwhile, in order to improvesystem reliability and real-time, on motion control system I conducted a series of tests,this paper presents the principles and results of each test. For the problems found intesting, this paper gives the corresponding optimization measures and optimizing theeffect.The system is based on six-legged robot walking tasks and walking environmentspecifically designed and implemented, not only to meet normal walking control tasks, but also has high reliability and safety. The system played a key role in developingsix-legged robot for the transport of large loads successfully and make the system has ahigh application value.