Design Of Omni-directional Mobile Robot Control System Based On PLC

Omni-directional wheeled mobile robot, atypical mobile robot, which don’t need to change its posture when steering and occupied less space in order to move flexible in narrow occasions, is widely used in military and civil service field. In order to achieve the real-time control of robot in the urban environment, this paper designs a four-wheel Omni-directional mobile robot which can steer and drive independently.Firstly, select and configure the underlying controller according to the functional requirements of the robot control system. This paper adopts Siemens S7-1200PLC as the underlying controller.According to the requirements of real-time and stability of the whole system, this paper designs the overall scheme and the control scheme of the Omni-directional mobile robot. Use handheld pulse generator and a wireless remote control handle as a manual input device based on the analysis of multiple motion model of mobile robot under the circumstances.Then, analyze the motion model of the Omni-directional mobile robot in detail; complete the analysis of robot kinematics. Adopted the structured programming concept to complete PLC program design.Taking servo motor and wheel hub-motor motion control as the main research objects in order to implementation of synchronization control of8motors.Finally, completed the software design of control system after the hardware design and control algorithm, and the data storage and transfer is realized by sending the motor data of each state to the host computer through the Ethernet and OPC communication. The experimental results show that PLC can realize synchronization control of8motors with good real-time performance, fast response speed and reliable operation, which has laid a good foundation for autonomous mobile robot with positioning and navigation function for further research.