Amphibious mechanical crab step control device and control method

A hierarchical control and crab technology, applied in two-dimensional position/channel control, electric controller, comprehensive factory control, etc., can solve the problems of poor overall control performance, low reliability, system paralysis, etc.

Inactive Publication Date: 2008-07-09
HARBIN ENG UNIV
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  • Application Information

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Problems solved by technology

The former has the advantages of direct control, high effectiveness, and is convenient for system analysis and design; the disadvantage is that if the control center fails, the entire system will be paralyzed and the reliability is not high. The latter is connected by the main controller to several distribu

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  • Amphibious mechanical crab step control device and control method
  • Amphibious mechanical crab step control device and control method
  • Amphibious mechanical crab step control device and control method

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Embodiment Construction

[0038] The present invention is described in more detail below in conjunction with accompanying drawing example:

[0039] Combined with Figure 1, Figure 2 and Figure 3, it includes three parts: the upper organizational level, the middle coordination level and the lower execution level. The upper organization-level control system is mainly composed of S3C44B0 as the core ARM system, and peripheral extensions include wireless data transmission module SRWKF-108, infrared remote control interface, Can communication interface MCP2510, RS232 interface MAX232, liquid crystal display module and Intenet Ethernet interface RTL8019AS, etc. The organization-level functions are mainly responsible for accepting user commands, feeding back information to users, and planning the movement strategy of each crab leg according to the on-site environment. The wireless data transmission module SRWKF-108 and the infrared remote control interface are connected to the main robot controller through thei...

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Abstract

The invention provides a hierarchical control device for an amphibian machinery crab and a control method thereof. The device comprises a superstructure-level control part composed of a B3C44B0-cored ARM system, a coordination-level control part composed of an AVR single chip computer ATmega128L, eight walking-leg drive modules and an execution-level control part which is composed of a multi-sensor signal collecting module; wherein control signals are input to the superstructure-level control part; the coordination-level control part is connected between the superstructure-level control part and the execution-level control part; and the execution-level control part communicates with joint drive units through bus communication protocols. The invention divides the system into superstructure level, monitoring coordination level and execution level based on the design principle of hierarchical distribution, each dispersed controller not only can work independently but also can communicate and exchange information with a higher level controller or a peer level controller through communication circuits. The hierarchical structure has the advantages of a centralized structure and a dispersed structure, thereby overall and partial control performances are high, and the operation is reliable.

Description

(1) Technical field [0001] The invention relates to a control device for an intelligent robot, and also relates to a control method for an intelligent robot. Specifically, the invention relates to a control device and a control method of an amphibious mechanical crab-like multi-legged robot. (2) Background technology [0002] Introduction to the amphibious mechanical crab: The shape and function of the robot are based on the river crab as a biological prototype. There are eight walking legs, each with three driving joints; driven by 24 servo motors, forming 24 degrees of freedom. The controller is controlled by DSP, and the whole is sealed by a rubber jacket, simulating various walking gaits of crabs, and can realize fourteen movements such as forward, sideways, left and right turns, and backwards flexibly in an amphibious environment. Each walking foot is equipped with a force sensor to sense the external environment, detect whether the toe lands and whether the walking fo...

Claims

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Application Information

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IPC IPC(8): G05B19/418G05B11/32G05D1/02G05D1/00
CPCY02P90/02
Inventor 陈东良王立权季宝锋邓辉峰刘德峰王刚
Owner HARBIN ENG UNIV
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