Research On Control System Of Stair Climbing Robot

With the development of robot technology, various kinds of robots have been widely utilized in different walks of life. In recent years, the rapid development of mobile robots leads to professional development for different uses. The practical value of application in elderly and the disabled wheelchair and cargo handling makes the stair climbing robot being focused by globel researchers. The control system whose performance significantly influences the robot is the core. Therefore, a specific application in the building environment of stair climbing robot design and the control of robot to achieve autonomous obstacle avoidance and climb the ladder is very meaningful.This thesis mainly studies the control system of stair climbing robot.Through the analysis of the mechanism and movement characteristics of the stair climbing robot, the control system structure of the robot is established. According to the control scheme, the principle of each control module which mainly includes the processor module, the drive module, the sensor module, the human-computer interaction module and the power module is designed.The control algorithm of the robot is studied based on the operating mode of the control system. The mobile robot is capable of making appropriate action under the actual situation by utilizing the weights control parameters of the outputs to achieve self obstacle avoidance and stairs recognition. The speed of the climbing procedure is tracked and controlled using the terminal sliding mode control method. The condition of the control system converge to sliding mode to ensure a stabilizated climbing procedure.The software of control system has been programmed using the Code Warrior on the basis of hardware and control method. Meanwhile, a QT based remote control software has been designed for robot monitoring and control. The autonomous decisions and remote control of the prototype is implemented by expriments.