Motion Control And Application Of Deformable Mobile Robot

In recent years,from the terrorist attacks in the city,Tokyo accident at the fukushima nuclear power plant and tianjin explosion accidents of dangerous goods incident can be seen that unexpected accidents in the city more influence to the country,and whether the incident occurred after rapid response,let the accident to minimize the impact on human,become a direction of the research..This paper mainly studies deformable mobile robot dealing with urban unstructured environment emergency,in accordance with the requirements of robot application scenario for the design of the robot control system.First of all,this paper briefly introduces the shape-shifting robot mechanical structure,and in detail the process of analysis and configuration are introduced combining with the three key parameters and structure characteristics of the robot posture according to different application scenarios.Based on deformable mobile robot motion mechanism characteristic and the change of state,establish the dynamics and kinematics of the robot model under the homogeneous coordinate system in unstructured environments,and robot is deduced between ontology and swing arm gesture of kinematics solution and inverse solution,it is concluded that the swing arm posture change and the kinematic relationship between the body posture.According to the robot heading angle,set up the robot kinematics and dynamics model of the turns,and finally validated by Matlab software.Combined with the actual mechanical structure size of the mobile platform,the energy equation and limit under the condition of geometric relations,to solve out the limit range of robot climbing stairs and prevent tilting angle.Based on principles of safety and energy saving,planning deformation robot motion configurations in the process of climbing the stairs,lay the foundation for the subsequent motion control algorithm.By the idea of modular shape-shifting robot for the hardware integration and software development.Hardware part includes the robot posture and motor position detection module,with functions of multi-axis synchronous control EtherCat master station of the card and servo motor drive,and according to the characteristics of these modules and the actual usage scenarios,for specific configuration parameter and performance test.Software part mainly divided into the monitoring interface design and motion control software development.host computer control interface to Microsoft VS as the development platform and the c++ as development language.Slave computer using QNX system integrated development environment,combining the characteristics of the EtherCAT network communication with the robot's motion control code development,code includes hardware initialization module,data analysis module,the control algorithm and code debugging module.Based on the module design principle,making the control program has the characteristics of good independence and portability strong.The last part,experimental tests of robot climbing stairs in the long-distance control.Through the experiment not only tests the stability of the control interface,also verify the rationality of the motion planning in the process of climbing the stairs.Results show that the robot control system is stable,reliable and meet the design requirements.