|
Bicycle robot is a kind of mobile robots with perfect performances of narrow bodies, high mobility, small turning radius, high energy efficiency etc. Bicycle robots possess promising market prospect, e.g. toy robot, assistance for the disabled, relevant verification platform for control theory, military reconnaissance, etc. However, there are already many difficulties in the area of bicycle robot self-balancing control, and more and more researchers concentrate on the study of bicycle robot control analysis.The process of how to design bicycle robot system based on multi-sensor is presented in this paper. There are two micro chips in this robot system:the ARM9 chip S3C2440A produced by Sumsung is host processor, and the other C8051f020 produced by Cygnal is slave processor. The tasks such as man-machine interaction, task scheduling, analog signal acquisition, MTi AHRS datas acquisition and the algorithm of the calculation are assigned to S3C2440A, and for other tasks such as step motor control, DC motor control, photoelectric encoder signal acquisition and detecting impact switch signal are assigned to C8051f020.This paper elaborates on the hardware and software design of the bicycle robot. The periphery circuit of S3C2440A and C8051f020 is designed in hardware, such as power supply, Flash, SDRAM, GPIO, etc. There are two parts in bicycle robot software design, including Linux programming and MCU programming. Various functions of periphery circuit of S3C2440A such as UART, GPIO, A/D converter are designed in Linux programming. Photoelectric encoder signal, step motor and DC motor are acquired and controlled through MCU programming. After that, we do two experiments to test and verify the working stability of the bicycle robot system. The next, we establish the motion model and analyze stable equilibrium motion of the bicycle robot by fully considering moment balance of gravity and inertial force. Instead of many approximations in presented literature, we use precise kinematics analysis here to derive velocities and acceleration of the robot.
|