Design Of Servo Control System Of Three Omni-directional Wheels Home Services Robot Based On ARM

Home service robots is one of the important members of the service robot, developing the home service robots based on cloud services to improve the level of robot development, to improve the quality of life and to simplify life is important. Omnidirectional Mobile Robot as a kind of home service robot moving carrier is possible to achieve a full range of motion, particularly it has a advantage of small size, light weight, low noise movement, cleaning dynamic energy. Therefore, developing the home service robot servo control system based on cloud services platform is of great significance.Firstly, this paper analyzes the composition and functions of the omnidirectional mobile home service robots servo system. Then analysis the mobile performance of mobile carriers in different structures, finally established the structure of the three-wheeled omnidirectional mobile carrier. According to kinematics model of three-wheeled omnidirectional mobile carrier, we analyze the mobile performance of three-wheeled omnidirectional mobile carrier. Regard the structure of three-wheeled omnidirectional mobile carrierw as the mechanical structure of the omnidirectional moving home service robot, and provide the overall design plan of the mobile robot platform.Secondly, according to the instantaneous operating state of the DC motor, corresponding differential equation model is derived, and converted to transfer function model. According to the transfer function model, analysising motion characteristics of the DC motor, including speed performance and torque performance.Again, in order to achieve the movement of the robot mobile platform, using CAN bus implements distributed control strategy. Selecting the appropriate drive circuit design the servo drive and write the corresponding software drivers and closed-loop PI algorithm.Finally, detecting bipolar complementary symmetry PWM modulation waveform and added dead bipolar PWM waveform. Do some simulation of motor speed, current loop by using MATLAB-simulink toolbox, illustrate the rationality control of system design and prospect the follow-up work.