Design And Research Of Robot Motion Control System A Multi-legged

More than fifty percent of the surface of earth is covered by rugged land and swamp. Wheeled robot can not move stability in such a complex environment. Therefore, designing and manufacturing a legged robot like many crawling biology which can run stability enough in complex terrain is still a huge challenge for researchers. On basis of mechanical structure of all-terrain eight-legged robot, this paper proposed and studied power-divided control mode and multi-foot coordination control mode for all-terrain eight-legged robot.By analyzing the functional requirements of all-terrain eight-legged robot control system, this paper develops a control platform which is based on DSP and FPGA. Meanwhile, five critical techniques are proposed, including study of coordination gait in coordination control mode, kinematics analysis of the position and attitude for the fuselage in coordination control mode, accurate and coordinated control for multi-joint, study of gait in power-divided controlled mode and speed control of the Energy Motor.During the study of coordination gait in coordination control mode, three-legged and four-legged staggered gait is designed according to the features of all-terrain eight-legged robot, kinematics analysis of the position and attitude for the fuselage is also proposed. Modularization design is used in hardware, including the core processing module which is consisted of DSP and FPGA and the drive module for each motor. Improved PID position control method is proposed for single joint and corresponding multi-joint coordinated algorithm is designed. Meanwhile, gait for power-divided controlled mode is provided, and virtual prototyping model is established on ADAMS desktop which can verify the correctness of gait planning. Improvement exponential approach law sliding mode for speed control system is also designed for brushless DC motor (BLDCM).Finally, an experimental platform based on the Robot Prototype is built up. Test results of straight action of power-divided control mode, sliding mode control of BLDCM with improvement exponential approach law, single joint position control, multi-joint coordination control test, position test of fuselage and communication test verify the feasibility of multi-legged robot control system and theoretical analysis.