Design And Implementation Of Dual-core Processor Based Motion Controller Software For Legged Robots

This thesis studies the motion control system of multi-legged heavy-duty mobile platforms that adapts to complex terrain,and designs and implements a single leg motion control software with strong real-time,high reliability,and good portability to drive the leg motion of the legged robot.Considering the difficulty of multi-chain and multi-joint motion control under the design of leg of legged robot bionic structure,and the real-time requirement of motion control in complex terrain,this paper proposes a dual-core processor solution based on Linux embedded system.The software development of single leg motion controller of legged robot is realized by function modularization.According to the hardware configuration and software requirement analysis of the single leg motion controller of the robot,the outline design of the system architecture and functio n structure is proposed,and the detailed design of system task priority,synchronization control mechanism,communication mode,and motion control function is obtained.The implementation of motion controller software is divided into two parts.The second part is to realize the single leg motion control function of the system layer software.In this thesis,the development mode of the host machine-target machine is chosen,that is to build the ARM-Linux cross development environment on the PC and OMAP-L138 development board,and the appropriate cross-compiling tool chain is configured.And then,select the BootLoader boot file supported by the hardware platform and configure the boot parameters,tailor Linux to the minimum kernel that can fully implement the function according to the system requirements,and make the ubis file system for NAND Flash boot.Finally,the system platform is built by writing the files to the development board.The second part is to realize the single leg motion control function of the application layer software.From the point of view of function,it mainly includes five modules: the executive-level subsystem communication module,the coordination-level subsystem communication module,the processor-to-processor dual-core communication module,the motion control command solution module,and the single-leg pose solution module.Design test examples to test the performance,and functionality of foot robot motion controller software.Finally,the modular motion control software is obtained,which satisfies the stability,real-time,reliability,and is not strongly dependent on the hardware,and can be easily transplanted into the modular motion control software.