| As a kind of wheeled robot,Three-axis Omni-directional mobile robot is widely used in the narrow running space and it can pull through a large number of obstacles.Besides,it has more flexible function than the ordinary robots.The reason why the robot is so popular is that it can perform and control with high flexibility,mobility and excellence.This paper analyzes the kinematic model and the kinetic model of the three-axis Omni-directional mobile robot,and provides the basis for the control program based on the kinematics model.After analyzing and controlling the single controller system control scheme and the Multi-controller system control scheme,the Multi-controller system control scheme and the mechanical structure,electrical structure and control system hardware and software of the three-axis Omni-directional mobile robot are analyzed by using the STM32 microcontroller.Made a detailed design.In order to facilitate the test,we developed the upper-computer test soft ware which based on control the main card serial port communication protocol.According to the standard testing,we made a comprehensive test for the three axis Omni-directional mobile robot chassis.As a result,three axis Omni-directional mobile robot motion platform can be used with high precision and stable running,to the exclusion of mechanical errors.After the completion of the paper to im-prove the improvement of the host computer test software,and transplant the main card program for testing,the test results show that the new version of the host computer test software features perfect. |
