The Design Of Wheeled Modular Robot And The Research Of Control System Based On LabVIEW

With the development of robot technology, modularization is popular in the field of intelligent robots by far. A modular robot is built from many independent modules which have actuator, sensor, driver and control. An independent robot system can be finished by conbing the various modules. Compared to the regular robot have the features of single function and maintenance of inconvenience. Modular robots which have the characteristics of shorter development time, lower cost, higher reliability gradually develops in the field of intelligent robot. Graphic programming is a new way in field of the current programming. This way replace the existing code with simple and intuitive visualization of graphic and represent the data flow with the interface line graphics between the graphics. It reduces programming difficulty and increases the programming efficiency. This essay aims at studying the motion ability of the modular robot based on graph-oriented programming. The main content consists of four parts: the constructional design and dynamic performance analysis of modular robot,control algorithm and error calculation of robot, graphical module programming design based on Lab VIEW and experimental study on the control system programming and prototyping.Firstly, the robot can be divided into multiple modules and structural design. The subject introduces the different ways of walking about robot, gets the velocity distribution diagram of four-wheel walking mode of different angle and establishes the kinematic model equation on four-wheeled chassis of the orthogonal layout. Based on kinematic model, the dynamics equation of robot is derived in accordance with Newton's second law and its stability analysis of slope movement.Secondly, the real-time control algorithm to walk of robot path is established on the basis of ultrasonic distance measurement and six-axis accelerometer gyroscope. According to the control algorithm, the motion control equations for linear and circular geometric paths are designed and its path errors and adjustment in the process of walking is revised. The paper designs the control module and finishes modular programming of robot in the Labview development environment.Thirdly, the robot's control system is designed and implemented, such as the UART communication of motor controls, position, the IIC bus communication of data acquisition about position and posture, the motor drive of closed-loop DC servo, the open loop speed drive of rotation module and swing module, the data acquisition of various types of sensor.The paper introduces the software realization between the real-time control system and programming modules.Finally,a path simulation model of robot is built. The model gets the linear and circular track simulation under different test parameters and analyzes the path error. The physical prototype and experimental environment are introduced. The author calibrates the error of physical prototype and makes some tests about walking robots and anti-interference of robot.The experimental result verifies the accuracy and real-time of the control algorithms.