Real-time Control System For Nuclear Disaster Relief Quadruped Robot Based On Xenomai

Four years has passed after the accident accrued in Fuku-shima nuclear power plant in 2011,China is relaunching her long-stalled nuclear power plant construction plan.The emergency relief using robots in nuclear accident has been the key problem of research.This project is based on the national basic research program ”Nuclear power plant emergency relief robot basic scientific problems”,and it aims to research real-time control of quadruped robot system.This paper designed a real-time quadruped robot control system based on Xenomai.Firstly,this paper solve the kinematic of the robot's leg mechanism,and the control system could manipulate the robots' foot tip.This paper built the hardware platform with PC104 and ADT652 system,the Beckhoff EtherCAT slave devices and the Elmo EtherCAT slave devices while building the software platform of Xenomai real-time operating system and EtherCAT master.And we developed software on the hardware and software platform.This paper analyses the control tasks of the system,and the software divided the tasks into real-time ones and non-real-time ones and they could communicate with each other.The software built the EtherCAT master on Xenomai operating system and the EtherCAT master could control multifunction EtherCAT slave devices in time.This paper developed a real-time driver for ISA system bus device in Xenomai operating system and the driver could control the pump motor.After the integration of the control system and we ultimately achieve a real-time quadruped robot control system.The experiment of hydraulic actuators driving the robot joints show that the real-time control capabilities fully meet the requirement of the quadruped robot system.