Research On Motion Control And Servo System Of Ground Grinding Robot

Ground grinding robot is a mobile robot on the basis of adding ground grinding function,at the same time fusion of a variety of sensors for identification and detection,can complete the autonomous positioning and navigation,in the construction industry has a broad prospect of application.The ground grinding robot is capable of independently making path planning and completing ground grinding,dust collection and other functions without any watchman,which can greatly improve work efficiency,reduce the harm of dust to construction workers in the closed environment and improve the automation level of the construction industry.In this project,a building robot for ground grinding is designed,which mainly completes the design of motion control and servo system of the robot.ARM chip is used as the main control chip,and the "S" curve speed control algorithm is implanted into ARM chip,and the differential drive method is adopted to realize the basic motion state control of the ground grinding robot.The main tasks of the thesis are as follows:Firstly,the motion control principle of the ground grinding robot is analyzed,and the differential drive method is used to control the motion state of the robot.Through the research on the acceleration and deceleration algorithm,the "S" type algorithm is selected as the speed control algorithm of the robot,and the algorithm is simulated by MATLAB.The results show that the speed control algorithm of the"S" curve can realize the smooth transition of the movement speed of the robot.Then,for the ground polishing robot's motion control system and servo system's demand analysis,get the robot's design requirements,the design for robot as a whole,including:the controller chip selection,control system function design,servo driver module design,the pulse signal and the corresponding relationship between the robot speed.Then,on the basis of the overall scheme design to design of hardware circuit as a whole,according to the general design scheme of hardware system,design of each module of the circuit,including:micro controller module,power supply power display module,servo motor drive module,keys module,serial communication module and power supply circuit module,the schematic diagram and PCB diagram of the whole system is given and practical circuit diagram.Finally,on the basis of the hardware of system software function first,adopts the modular design of various modules design respectively,including:power supply power according to the software design,servo motor driver module calculation module software design,software design,speed control algorithm software design,serial communication software design,realized the ground polishing robot control function of each module.This paper is based on the research of ground grinding robot,which opens up a new direction for the application of robot in the construction industry.In addition,the speed control algorithm adopted by the mobile robot movement platform is also applicable to the control system of other types of robots,which provides a new idea for solving the problem of smooth transition in the movement of the robot and has important reference value.