Control System Research On Bionic Crab-liked Robot Based On DSP

Along with the fast development of MEMS, high density information management and integration control, micro robot becomes a research hotspot of military robot for its advantages such as high performance of concealment, low power consumption and cost, convenient for disposal etc. The research of this paper supported by project of 'Amphibious Crab-liked Robot Study', which is funded by NSFC (National Natural Science Foundation of China) aims at establishing a micro motion-robot platform with high adaption to complicated landform, high dependability and ability for movement in amphibious environment.The main research of this paper are the design of hardware and software in driving control layer of crab-liked robot and identification of related function. According to the main scheme of the system, we pay more attention to the research on motor-driving, motion control system based on DSP, coder signal management based on FPGA, communication based on CAN bus and so on.With the theory of kinematics and dynamics, the driving moment of joint according to which motors are chosen well is work out. The chip L6201 serves as the core of motor driver and interface.The main point of this paper is to design the distributed control system with multi-layer and multi-object based on DSP. The system includes mini-system of DSP, coder signal treatment module, Hall signal treatment module, FSR A/D transformation module and so on.In data communication and instruction transmission we select CAN bus for its good expansibility, high dependability and strong ability of anti-jamming. The CAN controller is embedded in TMS320LF2407, so the design of hardware and software are simplified.Through single leg test the feasibility of design is well identified. And we made additional improvement on the system and the dual four-leg movement of the crab-liked robot is realized.