Design And Lower Machine Control Of A Multifunctional Mobile Robot

Robots have been playing an important role in many fields as the development of technology.Mobile robot is a significant type of robot,and it's applied in industry,military,entertainment and so on.Using the method of modularization,this paper introduces a robot that can execute a task in complicated environment,and the controlling of its lower machine.The multifunctional mobile robot has two central modules: mobile module and executing module.The mobile module is universal,and it can co-operate with different executing modules.This makes it more valuable.For the controlling part,there are calculations about multi-axis,obstacle avoidance and optimum solution in this paper,and it's executed by the lower machine.The introduced executing module is a robotic arm with 6+1 DOF.Considering the efficiency,multi-modes are designed for controlling.The controller can control the position of the robotic hand directly,so it's easy to control and precision is guaranteed.According to the tests,the robot can reach the requirement of the design.It can distinguish different executing modules and call the relevant controlling program.So if different executing modules are designed,we can use the same mobile module to execute different tasks.That's for the convenience of following researches.The robot can pass complex terrain and grab a target objective.The high stability of the controlling system makes it possible to work in complex environments.The remote-control robot can be used for explosive-removal.