Modularized sub-action multi-legged robot motion controller and control method thereof

A multi-legged robot and robot motion technology, which is applied in the field of modular split-action multi-legged robot motion controller and its control, can solve the problems of control system scheme without backup, limitation of robot change and expansion ability, complex control algorithm, etc. , to achieve the effect of easy expansion

Inactive Publication Date: 2014-03-26
NANJING UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Most of the existing practical robots are special-purpose systems, such as industrial manipulators, handling robots, etc. Once the structure of the robot changes, its controller must be redesigned, which limits

Method used

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  • Modularized sub-action multi-legged robot motion controller and control method thereof
  • Modularized sub-action multi-legged robot motion controller and control method thereof
  • Modularized sub-action multi-legged robot motion controller and control method thereof

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0038] Example 1:

[0039] Mainly explain the straight forward function of the split four-legged robot.

[0040] A modularized split-type quadruped robot motion controller includes a host computer module, a split-type quadruped robot master control node module, and a split-type quadruped robot lower computer node module. The upper computer module is connected to the master control node module of the split quadruped robot through the USB-CAN converter and shielded twisted pair, and the master control node module of the split quadruped robot is connected to the lower position of the split quadruped robot through the shielded twisted pair. The machine node module is connected. The upper computer module includes a microcomputer, a digital video optical transceiver receiver, and a wireless remote control transmitter module (TK-DSM542_T); the digital video optical transceiver is connected to the microcomputer through the PCI slot, and the TK-DSM542_T is connected to the microcomputer th...

Example Embodiment

[0046] Example 2:

[0047] Mainly explain the turning function of the split hexapod robot.

[0048] A modularized split-type hexapod robot motion controller includes a host computer module, a split-type hexapod robot master control node module, and a split-type hexapod robot lower computer node module. The host computer module is connected to the master control node module of the split hexapod robot through the USB-CAN converter and the shielded twisted pair. The master control node module of the split hexapod robot is connected to the lower position of the split hexapod robot through the shielded twisted pair. The machine node module is connected. The host computer module includes a microcomputer, a digital video optical transceiver receiving end, and a wireless remote control transmitting module (TK-DHM544_T); the digital video optical transceiver receiving end is connected to the microcomputer through a PCI slot, and the wireless remote control transmitting module (TK-DHM544_T)...

Example Embodiment

[0055] Example 3:

[0056] Mainly explain the obstacle avoidance function of the split eight-legged robot.

[0057] A modular split-type eight-legged robot motion controller includes a host computer module, a split-type eight-legged robot master control node module, and a split-type eight-legged robot lower machine node module. The host computer module is connected to the master control node module of the split octopod robot through the USB-CAN converter and shielded twisted pair. The master control node module of the split octopod robot is connected to the lower position of the split octopod robot through the shielded twisted pair. The machine node module is connected. The upper computer module includes a microcomputer, a digital video optical transceiver receiving end, and a wireless remote control transmitting module (RFC-33A_T); the digital video optical transceiver receiving end is connected to a microcomputer through a PCI slot, and the split octapod robot main control node ...

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Abstract

The invention discloses a modularized sub-action multi-legged robot motion controller and a control method thereof. The modularized sub-action multi-legged robot motion controller comprises an upper computer module, a sub-action multi-legged robot master control node module and a sub-action multi-legged robot lower computer node module, wherein the upper computer module is connected with the sub-action multi-legged robot master control node module through a converter and a shielded twisted pair; the multi-legged robot master control node module is connected with the sub-action multi-legged robot lower computer node module through a shielded twisted pair. The control method comprises the following steps: transmitting motion commands according to the selected mode and the environment video information, processing the motion commands into special motion parameters of motors corresponding to lower computer sub-modules, executing the motion commands by lower computer sub-modules, and transmitting the video information. The gait planning is simple, the control is simple and convenient, a backup control scheme is provided, the lower computer nodes adopt the modularized design of being independent in hardware and self-adaptive in software, the extension is convenient, and the safety and the reliability are realized.

Description

technical field [0001] The invention belongs to the field of robot control, in particular to a modularized split-action multi-legged robot motion controller and a control method thereof. Background technique [0002] Since American George DeVore created the world's first programmable robot in 1954, after more than half a century of development, robots have gradually been used in industrial production, sea and air exploration, military reconnaissance, medical rehabilitation, emergency rescue, etc. It has been applied in many fields and is playing an increasingly important role. [0003] The field of contemporary robot research has moved away from fixed-point operations in structured environments. Advanced robot technology and its application research based on unstructured environments and extreme environments has become the focus of research and development of intelligent robot technology. Wheeled robots are fast, can bear heavy loads, are easy to move and control, and are w...

Claims

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Application Information

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IPC IPC(8): G05B19/418
Inventor 王茂森戴劲松朱燕生税华伍亚冰符涛涛张兰兰刘洪林申培刚张垒阁黄顺斌陆建董永明武立春陈龙陈浩祈建沈光煦符涛冒添逸吴海文李冠男朱敏
Owner NANJING UNIV OF SCI & TECH
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