Research On Linux - Based Robot Control System

Considering that traditional robots can not move on rough ground fast and smooth, so a multi-legged robot based on points acting mechanical structure has been designed, which not only has a good adaptability to the ground, but also with advantages of fast motion wheeled robot. According to the structural characteristics of these multi-legged robot, researchs about control system of multi-legged robots has been done.The sub-action mechanical structure of multi-legged robot has been introduced, the effectiveness of gait and stability on multi-robot have been verified theoretically, and the requirement of the control system has been analyzed. The three hierarchical control system based on WI-FI and CAN communication is proposed,whose control core is the PC and the ARM11. Considering the requirement of real-time,human-computer interaction and multi-task on control systems of multi-legged robot, the embedded Linux system runs on ARM11.Next, the designed hardware circuits on control systems include CAN communication, driver of active force motor, driver of joint motor and detection of voltage and current.Meanwhile cutting and transplantation on embedded Linux kernel is completed, the hardware drivers of CAN communication module and sensor module are designed. Next incremental PID algorithm and the location closed-loop algorithm are used to improve the speed characteristics of the active force motor and the precision of control on joint position. Finally,the QT interactive software on Linux systems, SCADA software and a path planning based on genetic algorithm are designed.Finally, the control system experiment platform which based on multi-robot prototype hardware and software is built.The experiments on multi-legged robot straight gait, wireless communication experiment between PC and ARM11, CAN network communication experiments between ARM1 and joint modules, the drive experiment the on active force motor and joint motor, the test on performance of PID speed characteristics and accuracy of closed loop position control, validating experiment on the real-time on the embedded system,as well as the experiment on coordination among multi-joint modules are tested, and the experiment results verify the Linux-based multi-legged robot control system which proposed in this paper is feasible and reasonable. The platform of hardware and software is serviced for multi-legged robot’s intelligence.