Research On The Coordinate Control System For Bionic Crab-liked Robot's Walking Leg

In order to establish a micro motion-robot platform with high adaptation to complicated landform, high dependability and ability for movement in amphibious environment, studies on the control method, control hardware design, software design method, hardware-in-the-loop simulation of bionic crab-liked robot are presented in this thesis.At the beginning, having deeply studied on multi-legged and bionics robot, especially the distributing multilevel real-time control system domestically and abroad, using behavior-based control approach, the author design a hierarchical distributing control architecture of bionic crab-liked robot. After compared the microcomputer-based and DSP-based hardware design program, the second one is chosen.Then, the DSP-based coordinate control circuitry of walking leg is detailedly designed, which contains least system of TMS320F2812, bus interface circuitry, pulse encoder interface circuitry, motor driving circuitry and force sensor detecting circuitry. The robot's intelligent sense system, consisted by three-dimensional force sensor, GPS, triaxial digital compass, camera and potentiometer-type goniometer, is put forward also.Besides, because the traditional design approach of embedded software has many deficiencies, a systemic software design approach, which combines arithmetic design, simulation and experiment together, is presented by the author. With this approach, a PID controller with variable arguments (VAPID) is developed in Matlab/Simulink system. Depend on the kinematics analysis of walking leg, a inverse kinematics module is designed by S-Function. Then coordinate control arithmetic of walking leg is established.At last, on the hardware-in-the-loop simulation and experiment platform, PID variables are confirmed, the capability of VAPID controller, double closed loop joint controller and coordinate control arithmetic of walking leg are tested. With the hardware-in-the-loop simulating of actual DSP controller, correctness and feasibility of the whole robot control system are validated.