Polyhedral Mobile Robot Gait Planning And Control System Design

With the development of robot technology, the development of new robot technology has been paid more and more attention. Besides the traditional legged, wheeled and tracked robot, there are also some new ones such as serpentine, butterfly and inchworm robot. These new technologies are widely used for battlefield reconnaissance, fire-fighting and planet exploration. Based on the research of the domestic and foreign existing polyhedral robot control technology, the gait of the polyhedron mobile robot has been planned and the control system has been designed in this paper. The main tasks of this paper are as follows:Firstly, the present situations of polyhedral robot have been studied and the mechanical structure and movement characteristics of this issue have been analyzed. The kinematics model has been established. The correctness of the kinematic model has been verified by MatlabTMSecondly, the robot gait has been planned and the real time MatlabTM stability criterion method has been built. By analyzing each support state of the gait planning, the movement feasibility has been determined theoretically.Simulation analysis was carried out by using AdamsTM.Thirdly, the design of the control system platform which based on negative feedback has been completed. The hardware platform of control system has been built and the software of the control system platform has been developed. The communication system of upper and lower computer has been designed. Human-machine interface has been developed and the real-time monitoring program has been designed.Fourthly, the manual mode and automatic mode experiment have been completed. The feasibility of the gait planning and control system has been tested. Collecting a number of motion data, some references for the performance of robot have been provided.The polyhedral mobile robot control system designed in this paper, has good response and accurate control. The planning gait has proved the feasibility from the theory and practice. The friendly human-computer interaction interface also be able to meet the basic needs.