Design Of Mobile Robot Arm Control System Based On Embedded Linux

With the development of society,the labor cost is more and more high,the robot as a kind of alternative person production operation product gradually began to enter the human life,the 21 st century Robot presents the rapid development,all kinds of robots have been developed and developed,is widely used in industrial production,aerospace,medical and health,family services,education exchanges and other industries,Promote the development of human society.As a kind of robot which is closest to human,service robot has great research value.The most widely used robot in service is the mobile robot,which is usually made up of one or two robotic arms on a mobile platform.The mobile service robot designed in this paper has four-wheeled omni-directional mobile vehicle,which can move in any direction and is more flexible than that of ordinary mobile platform.The manipulator adopts the modular seven-DOF manipulator,the control system of the manipulator is integrated with the inside of the joint module,the manipulator is more concise,which can be extended conveniently.The main research contents are as follows:First,the overall design of mobile robot arm system structure is carried out.The mobile platform chooses the omni-directional mobile platform based on the MECNUM wheel,which selects the MECNUM wheel and drives the motor according to the mobile platform load.The design of the mechanical arm structure is composed of seven rotating joints of redundant seven degrees of freedom modular manipulator.Modular joints are designed to install servo actuators,planetary gear reducers,brakes and sensors,and the standard modular joint sets up robotic arms.Secondly,the kinematics analysis of mobile manipulator system is carried out.A mathematical motion model for the mobile platform and the seven-degree-of-freedom manipulator is established.Based on the geometrical method and algebraic method,the positive inverse kinematics of the manipulator is established,the model of the manipulator is established in Matlab,and the working space of the manipulator is simulated using the model carlo method.Finally,the inverse kinematics is solved and verified.Then,the design of the mobile arm control system is carried out.Mechanical arm system control scheme selection,control mode selection based on CAN bus distributed control,PC as CAN bus master node,each joint controller as a slave node,realizing the real-time control of robot arm;Control of mobile platform is controlled by serial port.Hardware design and software design for mobile robot arm control system.Finally,the motion planning of mobile robot arm is carried out.Introduced mobile manipulator mode of motion control,mechanical arm for the task space trajectory planning,the first design task planning algorithm of the space,two experiments in the task space design,a straight line trajectory experiment,experiment and arc trajectory planning algorithm is proved correct.The point-point control of platform for mobile platform is realized,and the integrity of mobile robot arm control system is verified by grasping experiment.