The Design Of Manned Hexapod Robot Control System Based On VxWorks

In recent years,as the development and application of the large hexapod robot all around the world,the research of the foot robot has become the hot spot in the robot area.The research of the foot robot is from the perspective of biotics,compared with continuous rolling of the wheel and crowler robot,it has discrete falling point walking characters,just as biology with feet.Because of this,it can adapt the terrain very good,especially hexapod robot.The application of the hexapod robot in resisting disaters,transporting goods and engineering homework with the complicated terrain environment has been widely developing.This is because of its favorable terrain-adapting ability,superior moving performance and excellent stability.As for the machine-people interaction,it is extremely important to have a artificial control system with complete control function,favorable real-time performance and stability.This paper mainly study the artificial control system of the large full-terrain hexapod robot.Considering the control methods and the research results of the hexapod robot and the foot-style mechanical engineering all around the world,we design and develop the manned hexapod robot control system based on the VxWorks embedded real-time operating system.Firstly,we study the classical gait and walking style of multi-feet insects.And operate bionic design of the hexapod robot based on the structure bionics and function bionics.Then analysis the terrain environment and divide the terrain completely.Based on that,we can analysis the walking strategy for the hexapod robot to adapt different terrain environment and the function that the robot needs.Secondly,we complete the project design of the control system based on the function of the robot,including designing the control project,designing the control system and building the hardware platform.We complete the design of the control system software based on the VxWorks embedded RTOS,and transplant the ucGUI embedded figure-supporting system aimed at the ARM+VxWorks system platform,and develop the interface monitor function of the control system.Finally,this paper accomplish the design of a control system with high-performance remote data collection and real-time communication function.In a cycle of 50ms,it completes the collection,analysis and process of the control order,and the information interaction between the control system and the bottom control system.During the performance test of the ontrol system,its real-time performance and stability both obtain favorable performance effect.