Control Design Of Modular Robot Based On Android Platform

Compared with traditional robot, modular robots with flexible structure characteristics drew the attention of many scholars.At the same time, its control technology has been rapid development. In order to improve the performance of the modular robot, the control system need to have property of opening and hierarchy, which is different with the traditional control method. The analysis of the characteristics of the modular robot control system has been completed and the details are as follows:First, referring abroad module classification theory, robot’s functional analysis and module division are completed. Robot module can be divided into three parts:joint movement module, joint connection module and the end of tool module. The end of the tool module can be further divided into resistance end foot, sliding end, end cover, the sensor or other parts. By the division method of above that satisfies the traditional principles of module partition, module is more simple and better to be controlled.Next, on the basis of the structure of the distributed control system, a multi-stage control structure, which integrated remote control system, is put forward in this paper. The architecture is consists of the remote control system, main control system and the sub control system. Among them, the remote control section is an application based on Android Smartphone that is responsible for sending commands and updating action control program.Then, the hardware design of the main and sub control system section is introduced. ARM’s production of Cortex-M3and Cortex-MO are selected as the main and sub control core processor systems. The I2C bus is used to implement communication between main and sub-network control system. In addition, According PWM modulation principle, Closed-loop control circuit via A/D sampling circuit and H-type bipolar circuit consisting of reversible systems, the hardware design of drive unit in robot system is also completed that can control the motor precisely.Finally, in this paper, the design of remote control system section is realized. The software is divided into three parts as follows:interface unit, data storage unit and wireless communication unit, the application software of use case diagram and sequence diagram are also designed. All parts has been given the detailed design, the code is also completed.Modularity is a direction for the future development of robots. In this paper, Control system architecture was designed, which satisfied the character of modular robot and the principle of opening and hierarchy. Its feasibility is also verified by experiment.