Mecannum Vehicle Motion Control System Design

Omnidirectional mobile robots have lots of advantages as follows: there are more degrees of freedom of motion,the efficiency is much higher than that of unidirectional or multidirectional mobile robots,the control algorithm is simple etc..They are widely used in the production workshop,warehousing,logistics,industrial transportation and other industries.How to design a good control system is one of the key technologies to achieve the omni-directional mobile robot research and development.With the development of industrialization,people's performance requirements for intelligent robots continue to improve and the control system is developing towards a more intelligent and open direction.This article is based onMecanum wheel omni-directional robot as the research object.Developing a distributed control system based on STM32 as the controller for the real time control system and the canoepn protocol and to improve the real-time performance of the system and good servo performance to do relevant research.The main work of this article includes:(1)we need to model our research objects.In the analysis of the structure and motion characteristics for the actuator to Mecanum wheel as the core,we get the general characteristics of the Mecanum wheel movement.And according to the motion characteristics of different Mecanum wheel under the condition of different layout and analysis on feasibility of the system under different layouts,we get a reasonable layout of Mecanum wheel.(2)In view of the current popular controller,we establishthe main controller system based on ARM processor STM32,realizing system such function as follows: wireless data transceiver,obstacle detection,servo mode switching,tracking error detection,power detection.(3)It is the core of the robot research to realize the network management of the whole control system by protocol.We transplant the canfestival protocol,using STM32 as the core,to establish the control chip for the host,servo driver from CANopen node,network management,CANopen protocol,NMT host service data object(SDO),the process data object(PDO)and emergency message general communication message programming and processing.We design object dictionary implements the basic communication functions such as node initialization,NMT management,SDO transmission,PDO communication and boot up identification in the main node of the controller,so that the device has a complete CANopen protocol function.(4)The intelligence of robot system is a major innovation point at present.Based on A* algorithm,the application of A* algorithm in path planning is introduced in this paper.It presents a reasonable migration method to realize the automatic avoidance of mobile robot.Experiments are made on CANopen communication and wireless communication.