Research On Hexapod Robot Control System Based On STM32

With the rapid development of society,the field of robots continues to rise,and more and more people begin to study and use robots.Hexapod robot has been widely used in many fields because of its advantages such as good stability,flexible gait,and strong load capacity.Not only can it cope with complex and rough roads,but it can also complete highly demanding and difficult operations.At the same time,today's rapid development of embedded systems has accelerated the speed of operation of control systems,and made robots reach a new level.In addition,more and more people have applied bionics to hexapod robots,which has also promoted Development.Therefore,this paper designs and studies the control system of hexapod robot.This paper first compares the development status of foot robots at home and abroad,and understands the advantages and disadvantages of each robot control system,draws on the research results of its control system,conducts a demand analysis and determines the objectives of the control system designed in this paper,and proposes a reasonable Based on STM32 bionic hexapod robot total control system.Secondly,according to the functions required by the robot,the main controller is selected,and the circuit design and PCB drawing of each module are carried out,including: core controller,power supply module,communication module,data acquisition module,etc.Then,the software design of the robot control system is carried out,and the development environment is built;the robot control system is developed through the Windows system and the Ubuntu system under the virtual machine,including: communication design of the upper computer and the lower computer,data transmission of the lower computer And data acquisition design,communication design between lower computer and servo.Finally,the circuit board is tested.After the test is completed,the communication test with ROS,including STM32 and ROS communication test,Matlab and ROS communication test,and the test results are analyzed;at the same time,the functional design of each module of the control system designed in this paper is tested To verify whether the function of the control system designed in this article can be achieved,mainly including communication function test and ADC voltage acquisition function test.