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EOD Robot Motion Control System Research and Implementation

Author: ZhongGuoLiang
Tutor: JiangLiangZhong
School: South China University of Technology
Course: Mechanical Design and Theory
Keywords: EOD robot Kinematics Robot Planning Windows CE
CLC: TP242
Type: Master's thesis
Year: 2009
Downloads: 201
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Abstract


With the rapid development of robot technology, robots in various fields to obtain a wide range of applications. The robot technology to the field of counter-terrorism, contributed to the birth of EOD robot. Study and design of intelligent control systems practical EOD robot, no doubt for improving the ability to have greater anti-terrorism explosion practical significance. In this paper, based on the results of previous studies, further application of robot technology development results at home and abroad, has made breakthrough progress as follows: First, the underlying servo control system uses Windows CE embedded system, with product characteristics; second proposed robot robot path planning and obstacle avoidance continuous path planning algorithm, further intelligence; Third, to achieve the vision systems, communication systems and control systems of the organic integration of the control system of the EOD robot holistic. EOD robot control system controlled by a multi-layer structure. Target machine, use the Windows CE design underlying motion control system, and through cross-compiler runs on PC/104 generate real-time control system; master control unit, the main image information acquisition is completed, calculate the three-dimensional coordinates of the target, and to PC/104 motion control layer to send control commands to achieve the intelligent control of robot motion capture. This paper introduces the EOD robot and its control system hardware and software structure of the basic components, focusing on the robot kinematics, robot planning and realization of the underlying control systems. Kinematics, through projection gives a coordinate system from the visual to the world coordinate system conversion methods, the use of robot kinematics DH theory and research methods for the calculation and analysis of the kinematics, and gives the verification results; manipulator planning, through the C-space obstacle boundary method and the envelope method to determine the shape of the obstacle, using the A * search algorithm to obtain the optimal path to avoid obstacles using quintic polynomial interpolation algorithm to achieve a continuous robot trajectory planning; underlying control aspects, through the EOD robot control system analysis, based on PC/104 and ADT/652 two reconstitution system Windows CE embedded system using Windows CE multithreading technology, stream interface drivers and since the launch of the design, implementation EOD robot underlying control systems. Finally, we conducted a test object automatically crawl through the experimental verification of the control system performance. Test in X, Y, Z direction, select a plurality of test points, the measurement robot manipulator positioning error of the target point, to obtain the X, Y, Z direction error trends, the best results crawl space robot. By error analysis, verification EOD robots to crawl the accuracy of the target object, to meet the crawl tasks.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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