Research On Multi-axis Coordinated Motion Control System Of Mobile Service Robot

With the advancement of science and technology,mobile service robots have attracted great attention from robot researchers at home and abroad due to their unique advantages.This article focuses on the research of the motion control system of the mobile service robot,and uses the STM32F407IGT6 chip as the control core of the motion control system.The mobile service robot in this article has four traveling motors and four steering motors,which respectively control the traveling and steering of the robot wheels.By independently controlling these eight motors,the mobile service robot can move forward,backward,obliquely,and traversely.Various walking functions such as left steering,right steering,and in-situ steering have laid a good foundation for the follow-up research of mobile service robots.This article mainly carried out the following work:(1)The analysis of the motion mode of the mobile service robot,by comparing the advantages and disadvantages of the four-wheel independent driving principle and the two-wheel differential motion principle,finally adopts the four-wheel independent driving principle,each wheel has a traveling steering mechanism and suspension.The frame mechanism realizes independent travel and independent steering of the mobile service robot,has good shock absorption,and can cope with uneven ground problems.The kinematics analysis of the mobile service robot is based on the principle of four-wheel independent driving.(2)According to the requirements of the motion control system,the overall scheme of the motion control system is designed.The motion control system adopts an embedded control scheme,and selects core control chips,motors,power supplies,sensors and other hardware devices.The circuits of the controller module,power supply module,motor drive module,communication module of the motion control system are respectively designed.(3)In order to enable the mobile service robot to complete various motion functions,software design is required.Program design based on IAR development environment to realize motion functions.In order to make the motion function meet the design requirements,PID algorithm is used to correct the deviation.(4)Experimental verification.The positioning error experiment,the motion trajectory error experiment,and the motion reliability experiment are carried out on the mobile service robot motion control system.It can be obtained that the mobile service robot has reliable performance and meets the design requirements.