System Design, Dsp-based Crawler Mobile Robot Motion Control

The tracked mobile robot is an important branch in the field of research on robot. The motion control of the mobile robot is one of the core of the whole robot system, and it plays an important role in the motion feature. A tracked mobile robot has been investigated in this paper, then the design method and engineering realization are presented for the motion control subsystem and wireless communication subsystem of it. The main contents are as follows:(1) The overall structure of the tracked mobile robot is studied, and based on DSP TMS320F2812, the overall design scheme of the motion control subsystem is proposed.(2) The hardware design of the motion control subsystem is presented. The modular method is adopted to divide the motion control subsystem into two components of the control board and the drive board, respectively. Based on programmable logic device EPM7064S, the protected functions for over-temperate, over-circuit, over-voltage and under-voltage are realized.(3) The software design of the motion control subsystem is presented. The overall structure of the software and the specific realization of each module are introduced in detail. In order to make the left and the right motor operate synchronously when the mobile robot moves straightly, the synchronous control strategy of the double motor is introduced based on the double closed-loop circuit control.(4) The design of Wireless communication subsystem is finished, so that not only the data conmmunication between the distant PC and the robot is realized, but the debugging for the motion control subsystem is also more convenient. Based on the platform of VC++6.0, the monitoring software of PC is developed.At last, we debug the designed system and do the experiments about the straight moving, rotating in situ, arc-shaped turning and climbing the stair of the tracked mobile robot. The result shows the feasibility of the scheme for the motion control system of the tracked mobile robot. The robot moves steadily, turns flexibly and has the capability of climbing the stair, which has reached our demand.