Motion Control System Design And Implementation Of Omni-directional Wheeled Robot For Inspection Application

The wheeled robot based on the inspection and application of the robot is based on the wheel structure, which is flexible and accurate. To achieve the set goal of self localization, inspection, accurate and accurate completion of the task, this paper inspection robot is mainly used to complete the detection of substation equipment. Inspection robot can monitor the operation status of the equipment in real time, the abnormal situation can be timely warning, remind the staff to overhaul the equipment, does not cause security risks. Only a small amount of manpower and material resources can be put into operation, which can improve the operation efficiency of the substation.Firstly, this paper combines with the domestic and foreign research on the robot’s motion framework and mechanism. Details of the Mecanum wheel or a full dimensional wheel for bad architecture speed drive the robot has the advantages and disadvantages of, designed a drive omnidirectional motion of a wheeled robot, established the mathematical model of motion system, the kinematics equation of motion system is established by means of mathematical formulas and rigid body kinematics principle, the motion characteristics of the robot are analyzed. Providing a reliable theoretical basis for the motion control system design and applicationIn this thesis, the robot motion control system based on STM32 microprocessor, through the stepper motor to achieve the steering, DC motor to achieve mobile, they constitute the whole drive omnidirectional motion control system. Hardware circuit adopts modular design and consider the design of electromagnetic compatibility (EMC) and software system is based PID control algorithm, by preventing the loss of step control algorithm and the four axis linkage control algorithm for correction of four wheel drive mode control deficiencies, improve the control system robustness and comfort the autonomous navigation can be realized under the guidance of the electronic map, intelligent charging, independent inspection. The robot is convenient operation, reduced labor output, is a sign of substation operation and management to unmanned direction.