Motion controller for modular embedded polypod robot

Abstract

The motion controller for modular embedded polypod robot includes one PC module, one robot body controlling module and foot unit controlling modules separately located in the feet. The PC module distinguishes the environment the robot is in, determines the next action of the robot and transmits the data to the robot body controlling module. The robot body controlling module processes the data into specific motion data, and dispenses the specific motion data via the robot data bus to the foot unit controlling modules. The present invention adopts hierarchical control mode comprising data operation layer based on PC, robot control layer with ARM processor as control core and great memory space, and joint control layer. The present invention can realize the off-line motion of robot and the seamless connection to PC for on-line debugging of robot.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a motion controller of a modular embedded multi-legged robot. Background technique [0002] The robot controller is the most important and critical part of the robot system. The performance of the robot controller directly determines the motion performance of the robot. Existing robot systems are mostly dedicated systems that can only be adapted to robots with a specific structure. Once the structure of the robot changes, its controller must be redesigned, which limits the ability of the robot to change or expand according to the requirements of the task and working environment. . And the existing controller does not have fault-tolerant function, once some joints of the robot are damaged, the whole robot system falls into a paralyzed state immediately. [0003] Although various open-structure robot controllers currently exist have achieved portability, scalability, ...

AI Technical Summary

Problems solved by technology

Existing robot systems are mostly dedicated systems that can only be adapted to robots with a specific structure. Once the structure of the robot changes, its controller must be redesigned, which limits the ability of the robot to change or expand according to the requirements of the task and working environment.

Moreover, the existing controllers do not have fault-tolerant functions. Once some joints of the robot are damaged, the entire robot system will immediately fall into a state of paralysis.

[0003] Although various open-structure robot controllers currently exist have achieved portability, scalability, etc., most of them use industrial control computers as controllers, and the hardware structure cannot be changed, and the cost is high and the volume is large, so it cannot be embedded. control

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