Development Of Head Controller For Snake Robot

With the rapid development of bionic robots,the snake-like robot as the mobile super-redundant series of flexible robot has become the focus of people's research.Snake-like robots have the characteristics of small size,flexible movement and strong adaptability,and can satisfy the mobility in narrow space,unknown and specific challenging environment,and the super redundancy provides more mobile for snake-like robots Form,let it go beyond the traditional wheeled,crawler and legged robots.In order to develop a high performance Snake Robot Head Communication Control System,this paper studies the head controller communication system,with the support of the "Project Space Station Robot Technology Research-Snake Robot" project.The controller system design,the soft and the hardware design of the communication system,developed the host computer with the color of the robot controller,and carried out the joint control and related demonstration experiment.In this paper,the present situation of snake-like robot in recent years is reviewed,and the control communication architecture of each kind of snake-like robot is studied and compared.Finally,the research direction of this paper is determined,and a feasible snake-like robot head is put forward Part of the controller design-to calculate the bar as the main control unit,FPGA as a communication unit,completed with the communication between the joints and control.Taking into account the early in the project,making debugging easy,shorten the development cycle,this paper uses PC as the main control unit.The design requirements of the snake-like robot for the head of the mechanical structure,the design of the head of the communication unit hardware circuit to determine the secondary power supply conversion,joint communication interface,AD conversion,and the main control unit USB communication interface and other parts of the circuit principle.In this paper,the related module IP core based on A valon interface is written in hardware description language,including IP core of joint communication module,IP core of LED lighting module,IP core of synchronous device FIFO module and IP core of signal acquisition device,and based on Nios II SOPC system,complete the system-on-chip structures.On this basis,developed a communication unit as a functional module,including security monitoring,joint trajectory planning,PD control,communication control and other functions.Finally,this paper based on MFC developed a USB communication host computer,to achieve the display of joint information display,send joint position instructions,to achieve the function of joint control and the implementation of the work environment monitoring.In order to verify the performance of the communication unit and the main control unit,this paper builds a test platform,designs and completes the trajectory planning algorithm validation experiment,the main control unit control single,the double joint demonstration experiment and the two joint lateral displacement experiment.