Research On The Bus-based Bottom Control System Of Compound Wheeled Mobile Carriers For The Field Environment And Special Mechanical Arm

With the development of robot technology and performance, therobot is more widely used in various fields. Especially, the performanceof specialized robot is compelling in the fields, like military, aerospace,nuclear power. Countries put more effort into research and developmenton robot technology. However, traditional communication technique forrobot, can hardly meet needs of the development of robots, and restrictsthe performance of the robot. In recent years, fieldbus technology in thefield of industrial control is standout for its excellent performance. In thispaper, I studies the application of two kinds of fieldbus in robot controlsystem based on two different project developing.Control system was designed specially for the Unexploded OrdnanceDisposal Robot. According the characteristics of its transmission structureand motion, I designed strategy for motion control, and developedsoftware for the system. Control system of walking mechanism wasdesigned based on CAN bus. In this paper, study and analysis involvedthe network structure and data transmission principle was done to designnet structure for the control system using CANbus. To improve theefficiency of program an system,communication strategy for bus controlsystem was developed, and data analysis and processing mechanism isestablished.The control system for flexible endoscopic arm is developed takeadvantage EtherCAT technique, after the study on technicalcharacteristics of the EtherCAT bus. Aimed at the work task of flexibleendoscopic arm, I work out the motion control strategy for the forearm,including the design of mechanical arm scanning trajectory and planning trajectory for forearm. According to the characteristics of thecommunication between upper machine and lower machine andrequirements of control task, I developed upper machine and lowermachine communication strategies and communication protocol. Basedon engineering practice and understanding of the two kinds of fieldbustechnology, analyses and compare about their characters was done.