模块化蛇形机器人无线控制器开发

Development of Modularized Wireless Controller for Snake-like Robot

基于无线控制技术和模块化思想,开发出面向蛇形机器人的控制单元,以克服蛇形机器人庞大关节数量而带来的通信控制困难。该控制器下位机采用ARM单片机作为内核处理器,利用其PWM波实现两路舵机的独立速度控制,基于C1100无线收发芯片实现与上位机的通信,并由锂电池供电。上位机采用ARM单片机与C1100芯片接收信息,并通过RS232串口连接至计算机。分析了蛇形蜿蜒、直线蠕动步态,提出了实现这些步态的运动控制方法,进行了实验测试。结果表明,该控制器可靠性、实时性高,便于集成,亦可应用于其他冗余度机器人控制。

This research developed a controller for snake-like robot based on wireless technology and modularization. This design overcame the communication difficulty come from its large number of articulations. ARM MCU was used as kernel processor with PWM module to control two steering engine. C1100 chip realized the wireless communication with the upper computer composed of ARM MCU, C1100. The upper computer was connected with the PC by RS232. Snake- like serpentine, linear peristalsis were analyzed. The control methods were proposed to realize these gaits, and the tests were performed to verify these methods. It was demonstrated that this controller had a high reliability, and it was easy to integrated into the robot. Wireless technology and modularization design have made a foundation for the multi-gaits of the snake-like robot, and these could he implemented into the other redundant robots.