| :A polyhedral deformation robot control system is studied to accommodate special exploration mission in complex ground environments, which has very important significance for people to explore unknown environment and perform tasks. The polyhedral mechanism uses rod rolling parallel mechanism. A polyhedral deformation robot control system which uses rolling motion is designed. Under the certain complex ground environments, the user can remotely control the polyhedral mobile robot to reach the target position.Firstly, the research background, significance of the current mobile robot and the research status of the mobile robot are reviewed. Thus, the research project of polyhedral deformation robot control system is proposed. The control technology of polyhedral deformation robot is summarized, and then the motion control algorithm of polyhedral deformation robot is obtained.Next, the overall program design of system is conducted. The system can be divided into two portions:the robot control unit and the handheld control unit. Through the system analysis, the device selection of each module was carried out, thus we obtain the overall workflow of system.Then, through the analysis of polyhedral mechanism, we have studied the running gait algorithm and motion control algorithm of polyhedral mechanism. And, we analyze and study the motion planning of polyhedral mechanism. According to the target position algorithm and mechanism’s own azimuth detection algorithm, the installation mode and structure of positioning module is determined.Finally, the hardware and software design of control system is completed, including servo motor coordination control, mechanism position signal acquisition, electronic compass azimuth detection, GPS positioning, and GSM communications. Also, the various modules of the system are debugged and experiment results are analyzed to verify the effectiveness of our system. |
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