| With the development of industrial automation,people pay more and more attention to mine rescue work,the crawler deformation robots that can adapt to the harsh environment,complex work have been widely used.Crawler robots have large support area,and strong stability.They can climb and cross obstacles,and have strong ability to shuttle.Therefore,it is necessary to design and study them.The design studies to improve the stability of the crawler-type mobile robots in the complex environment and the precision control ability of driving and steering.The paper mainly includes the following contents.Firstly,the STM32F103ZET6 is chosen as the main control core,the crawler mobile robot control platform is mainly designed,and the basic structure of the crawler robots is introduced.According to the characteristics of the differential mechanical structure of the crawler robots,the kinematics analysis is carried out,and the mathematical model of motion is established.Secondly,the modular design idea is used to analyze and design the hardware and software of the control platform.The hardware includes the master,the power module,the motor drive module,the encoder speed acquisition module,the communication module,and the information acquisition module.The corresponding software design is carried out in the Keil environment,and use Visual Basic 6.0 software to write the host computer display interface,to achieve the parameter display,curve display and communication functions.Then,the body motion attitude detection and control algorithm is studied,first,the robot gesture is detected through the attitude sensors which is installed on the body.The data of the detected plurality of sensors are integrated by the multi-sensor fusion algorithm to obtain the more reliable attitude information value,and then feedback the attitude information to the controller,then compared with the set of posture target information.Adjust the motor speed through the PI control method so that the body of robot can move with the specified target instructions.Finally,the correctness of the algorithm is verified by simulation.Finally,overall debugging is carried out to the robots and apply the algorithm to the robot platform.Carry out a straight walk,turn movement and climb stairs experiment.Record experimental test data,and the results show that the experimental result error is very small after using the algorithm.This meet the system design requirements.It verifies the feasibility of the design and the accuracy of the algorithm. |
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