Study On The Attitude Detection And Control System Of Mobile Robot With Mutil-tracked Based On Parallel Mechanisms

Both robot’s structural design and motion control are very important because these are the base of deep research on the theories and technologies of mobile robot. Mobile robot has many merits in both theoretic and practical research, such as industry, national defense and service industry and so on, and it is also an ideal research object for many reasons.In this thesis, the problems of structural designing of mobile robot with mutil-tracked based on parallel mechanisms and motion control based on embedded industrial computer and DSP motion control card for mobile robot are discussed, methods on motion control for mobile robot are developed. The detailed contents are as follows:Firstly, a creative process design of a robot with articulated-tracked and tracked foot is described, it applying automatic position changing tracked mechanism on articulated-tracked mobile robot, not only it possesses of the merits of articulated-tracked mobile robot, but also it has very strong ability on autonomous obstacle negotiation after overcoming shortcomings of articulated-tracked mobile robot. The robot can adjust the body attitude to level automatically by controlling the angles between the four legs and the body respectively, the stability of obstacle negotiation is improved.Secondly, a motion control system based on embedded industrial computer, DSP motion control card and driver for the robot are developed, a hierarchical-controlling method is proposed, it reveals the motion control system in aspects of planning, servo closed loop control and amplifier in a hierarchical and modular way, it has obvious advantages on strategy-making, assignment hierarchical-controlling and real-time performance. The teleoperation system based on wireless local area network (WLAN) and all movement modes of the robot are also introduced, strategies on body attitude adjusting based on three-dimension digital compass is presented.Thirdly software designing of control system developed by means of modular technology is introduced in this paper , we complete the program of the data sampling of DSP, PI speed circle and the RS-232 serial communication of DSP 2407 and the embedded industrial computer by using C language, we also finish the human-machine communication program by VC 6.0.Finally we make experiments of the mobile robot. The experiments prove that the hardware and software is competent for the robot and the mobile robot can fill for the request of the design, further improvements are put forward at last.