Design Of Tracked Mobile Robot Positioning Control System Based On DSP

Robot control system is a key part of determining the performance of the robot,it will directly affect the future development of robot technology.With the rapid development of wireless communication technology,advanced control theory and computer technology,intelligent tracked mobile robot has become one of the most widely used robot in the field of robot [21].Robotics continues to evolve,making the robot function continues to increase.The positioning and tracking control of tracked mobile robots has become a hotspot in the field of robot control system.In this paper,the overall design scheme of the motion control system of the tracked mobile robot based on TMS320F2812 DSP processor is given.the two-dimensional plane is modeled and analyzed,Linear motion,rotary motion and circular motion of the kinematic model,and its geometric modeling and motion parameters analysis [4].The hardware part of the motion control system of the tracked mobile robot is designed by using the modular design idea.Including DC motor,drive,rotary encoder,core control chip and wireless positioning module and other functional modules,and complete the assembly work.DSP is used as the core processor of the whole system,and the software design of the robot positioning control system is developed by using CCs3.3 software.Draw the corresponding control system flow chart,write the corresponding function module program [5].The program design and debugging,including the main program design,speed module software design and incremental PID control algorithm design.According to the existing TOF ranging algorithm,the frequency measurement method is used to simulate and debug the system.The experiment is carried out to realize the single-track robot's straight-line walking and fixed-point positioning control.The design and control system is validated and optimized for the actual problems The effectiveness of the product for the next step in the improvement of the autonomy of the robot to provide a theoretical basis for the analysis.