Design Of Motion Controller Of Hexapod Robot

As the original motion controller of the six-legged robot exists manyproblems?such as the speed of communication is too slow to a long cycle of dataacquisition?and anti-interference ability is poorer?system reliability is poorer?nocertain tolerance?and can not meet the application under the bad environment?master cycle is long to50ms?poor real-time performance and so on?so it can notmeet new design indexes. In order to meet the demand of the new system of themotion controller?redesign of motion controller is needed?Perfect performance PowerPC processor is adopted in the design as areplacement of the ARM? which the ability of operation and to adapt to badenvironment is very outstanding? In order to improve the slow communicationrate and poor communication reliability problems?the communication modulebased on redundant bus is designed?and the higher communication rate SJA1000was choosed as the CAN controller?At the same time?in order to improve thefault-tolerant performance of the system? in addition to using redundantcommunication bus?the motion controller with redundancy is implemented?andchosed the double-machine hot backup as a means of redundancy?A single motioncontroller failure?the whole six-legged robot system work will not be affected?and further improved the reliability of the system?In order to reduce the cycle ofthe master of time? in addition to improve the communication rate? based onmultiple concurrent tasks to schedule on software?redrawing task responsibilities?optimizing the task's internal structure?give full play to the task scheduling of theembedded real-time operating system?This article gived detailed requirements analysis to the motion controller ofsix-legged robot at first?and combining with the expected target?general designof motion controller is put forward?Design scheme including the scheme ofrealization of the communication module and the hardware selection? and putforward the double redundant bus and double redundancy design of motioncontroller?Then double redundant bus and double redundancy of the motioncontroller design in detail are described?involved the principle and concrete implementation method?Finally?based on PowerPC platform of application layerare redesigned?and completely the testing of new motion controller was finished?New motion controller in communication?system reliability and fault tolerantperformance than the original system of the motion controller is a kind ofadvantage?basically approached predetermined design index?...