Research On The System Of Multi-joint Multi-legged Robot Time Unified Control

Multi-legged robot’s research is related to many different fields. To make sure the system of multi-legged robot can work independently and reliable, the different parts of the whole system should be coordinative in a high level. When the multi-legged robot is working, it needs to collect all kinds of information. And then the controlling system would feedback to them with sending different controlling signal to the actuator. If the unification and the synchronization of time between different controllers couldn’t be guaranteed, the temporal correlation of the collected signal and the control signal can’t be ensure too. Then it will affect the accuracy, stability and the coordination of the whole system.The traditional methods to keep time unify includes GPS time service, NTP, IEEE1588protocol, TTP bus, SERCOS and so on. These methods aren’t suitable to the controlling system of the multi-legged robot, because of the short synchronization interval or the need of special hardware. This article did research to the controlling system of the multi-legged and multi-joint robot, especially in the unification of the time system. Then we completed the design of time unification system in low-level part.At first, this paper fully studied the history of the multi-legged robot and the latest development and research. Then it designed the scheme of the time’s unification system by using a prototype of an all-terrain multi-legged robot. Then we designed and made the hardware of the Clock control signal generator. It includes the minimal system of the FPGA, RS-485communication module, drive module of nine signals and the external box. Base on these, we completed the software of the RS-485communication module, control module, the delay module, count module, the trigger module and the functional simulation of each module. To meet the requirement of the time unification system, we did some development of the controllers in the low-level. It includes the controller of the RTC and the time unification module, the controller module of the motors, the protocol of the CAN bus and the design of the system’s anti-interference.Finally the experiment system was established, and got the results by using oscilloscope and the logic analyzer. It shows that the scheme is feasible. The research results of this paper have certain significance for the time’s unification between the multiprocessor in the controlling system.