Design And Research Of Embedded Soft Robot Controller

Compared with the traditional rigid robot,the soft robot made of soft or elastic materials has better security and flexibility.Because they usually have ultra-redundant degrees of freedom,they still have difficulties in modeling and control,and need to be further the study.In this paper,a distributed control system scheme based on embedded ARM processor and CAN bus is designed and proposed for a soft robot with multi segment elastic joints,and a control verification platform for the soft robot is built.According to the mechanical structure and kinematic model of soft robot,the interpolation algorithm in the process of motion control is studied.The basic principle and implementation process of linear interpolation algorithm and arc interpolation algorithm,as well as the basic principle and implementation of trapezoid and S-curve acceleration and deceleration algorithm are described.According to the control requirements of the soft robot,a distributed control system is proposed,which includes PC based upper computer and multiple joint motion controllers.The host computer communicates with each joint motion controller through CAN bus,which can realize the cooperative motion of multiple elastic joints.The ARM series microprocessor chip is selected as the control chip of each joint motion.The hardware circuits such as the joint motion controller and the CAN bus interface are designed,and the soft robot motion control platform is built.Finally,the motion control platform is debugged and verified,and the experimental actions such as straight-line,circular arc trajectory and bending objects are completed.The experimental results show that,based on the correct kinematic model,the control system can achieve multi axis cooperative motion control of soft robot,achieve the desired trajectory,CAN bus communication can meet the requirements of real-time communication,and the whole control system can achieve the desired motion control function.