Research On The Control System For Multi-DOF And Multi-sensor Robot

Robot is a comprehensive system that collection of environmental perception, datacollection and analysis, motion control and execution. A new generation of robots isdeveloping towards humanity, flexible, intelligent and networked. Especially theexpandability, portability and can be cut make the robot control translate from a singleservice object to universal controller. The primary work in this dissertation:This paper is built on a Multi-DOF and Multi-Sensor Robot. We analysis theoverall design of the robot first. Then determine the distribution of degrees of freedomon the physical model and use dc motor and steering gear as drive mode. Later weanalysis the robot control system and determine using STM32processor as the corecontroller, and using the embedded real-time operating system FREERTOS as softwaredevelopment platform.The robot’s control system is the core part of the whole robot system. And it playsa vital role in the operation of the robot system. In this paper, the design of thecontroller Hardware Circuit is completed with the help of the modular design thinking.Mainly includes: power supply module, sensor module, movement control module，communication module,etc.The software is designed and developed on the basis of the hardware circuit design.This paper completed the transplant work of embedded operating system FREERTOS.On this basis, application program development is completed. Mainly including:STM32initiator, motor driver, Speed measurement and adjustment procedure, sensorscontrol program, USB–IAP, etc. Firmware updated and monitoring function in realtime is realized by IAP.Finally developing robot3D animation demo application in the UNITY-3Denvironment. Showing the robot’s motion control and data acquisition capacity, etc.Based on the STM32micro processor as the core controller. Using embeddedoperating system FREERTOS as development platform. Introduce a variety of sensor inthe robot applications. The more perfect robot controller was designed. And it has goodadaptability, scalability and portability. Laying the foundation for robot’s popularizationand application in more complex situations environment in the future.