一种移动式服务机器人多轴协调运动控制系统

A multi-axis coordinated motion control system for a mobile service robot

随着科学技术的发展和进步,移动式服务机器人因其独特优势得到国内外研究者的关注。研究了移动式服务机器人的运动控制系统,采用STM32F407IGT6芯片作为运动控制系统的控制核心,机器人采用4个行进轮毂电动机和4个转向电动机,分别控制机器人轮子的行进和转向。通过独立控制这8个电动机,可实现移动式服务机器人的前进、后退、斜行、横移、左转向、右转向、原地转向等多种行走功能。研究表明,该系统测试的各项数据均能达到移动式服务机器人的要求。

With the progress of science and technology,mobile service robots have attracted the attention of domestic and foreign researchers due to their unique advantages.The motion control system of the mobile service robot is studied.The STM32F407IGT6 chip is used as the control core of the motion control system.There are four driving motors and four steering motors in the mobile platform to respectively control the travel and steering of the robot wheels.By independently controlling these eight motors,the mobile service robot can realize multiple walking functions such as forward,backward,oblique,lateral,left turn,right turn,and in-situ steering,etc.Research shows that all the data tested by the system can meet the requirements of mobile service robots.