Design Analysis And Software Development Of Walking Assistant Robot Control System

With the development of population aging,China has entered an aging society.So there will be more elderly people need to be took care in the future;At the same time,the accelerated pace of life also makes the young people bear tremendous pressure of work and life in today's society,people are eager to get out of the complexity of housework and family pressure.These reasons provide a broad market space for service robot of the elderly and the disabled.In this paper,a walking walking robot based on inverted pendulum model is designed,and its software and hardware and control system are designed and developed.The functions of speed regulation,turning and braking according to the system's attitude angle are realized.According to the requirements of the indicator the structure of the robot is designed,and the modular design method is used to complete the system hardware.Through the analysis of the module requirements,compared with the current hardware performance indicators,we choose the controller based on STM32,accelerometer and gyroscope constitute the attitude perception module,DC deceleration motor,encoder and motor driving device composed the motor module and so on.According to the principle of single inverted pendulum the dynamic mathematical model is established by using Newton method,state space model and the output equation of the walker are obtained,and the stability,controllability,observability and step response characteristics of the system are analyzed.According to the schematic diagram of the selected hardware and the flow chart of the main program design,the software platform of the walking assistant robot's system is built,and the configuration of the peripheral interfaces such as the encoder and motor is completed.The control system of Walking assistant robot is developed,because of the shortcoming of single inertial sensors designs the motion control algorithm,kalman-filter and complementary-filter to fuse the attitude information measured by gyroscopes and accelerometers is used.Build the Simulation model of double closed loop PID control system to get the correlation coefficient of angle control and speed control.Speed control and turn control of walking aids robot are realized by using PID algorithm.The accuracy of the system's attitude detection is verified by experiments,and the function of motor speed,braking and turning is adjusted according to the dip angle.The design analysis and software development of the walking aid robot control system have important reference value and significance to the development of the help line.