Research On Hybrid Control System For Small And Highly Mobile Robots

The development of smart equipment promotes the development of social productivity,and the use of small,highly mobile robots in various industries is becoming more widespread.Aiming at the difficulties of hardware design in the development of complex and varied application environments and the long development cycle of software update,this paper presents a small-scale,highly mobile robot hybrid control system program,and has made a comprehensive research and design of the system.Instructions.Mainly completed the following work:1,A small high-manipulation robot hybrid control system scheme is proposed.The overall framework of the scheme consists of four parts: the robot motion platform as the execution part of the motion,the motion controller controlling the motion of the robot,and the rapid development of the motion controller.Graphical secondary development platform for robots and robot-assisted systems,and detailed description of the above four parts and the framework relationship between them;2,For the miniaturization and high mobility design requirements,a four-foot bionic robot motion platform was designed,including the design,support and movement structure design of the platform,and the gait and driving function of the quadruped robot motion platform.A detailed calculation explanation was made.Finally,the feasibility of its motion platform was verified by dynamics and kinematics simulations.3,In order to allow the user to efficiently develop the robot motion controller application program for different job requirements,this paper researched and designed a robot graphic secondary development platform from the data structure,file system,intelligent prompt system,and drag and drop.Seven modules,including the system,graphic interaction system,and debug display system,have launched detailed design instructions.