基于System Vue的爬壁机器人控制器研究

Research on Wall-Moving Robot Controller Based on System Vue

摘要:

针对传统机器人控制器控制性能差，控制时间慢的问题，基于System Vue研究了一种新的爬壁机器人控制器。在机器人控制器仿生分析过程中，对爬壁机器人的腿部进行仿生关节的模拟性增加操作，并进一步提升关节的灵活性，促使关节在运行过程中能够自主完成对身体的前后控制以及倾斜处理，根据所获得的仿生与步态规划数据，对爬壁机器人控制器进行控制模型的建立与参数的设置操作，优化爬壁机器人控制器吸附控制算法，并利用LM339芯片改进JH-D400X-Ｒ4型六向摇杆的内部电路，使控制爬壁机器人的吸附和移动功能得到更好的控制。利用引导路径加强系统自身防护，对路径进行清理。实验结果表明，基于System Vue的爬壁机器人控制器具有较好的控制性能，控制时间提高了1.52s。

Abstract:

Aiming at the problem of poor control performance and slow control time of traditional robot controller, a new wall-climbing robot controller is studied based on System Vue. In the process of bionic analysis of the robot controller, the simulated increase operation of the bionic joint of the leg of the wall-climbing robot is carried out, and the flexibility of the joint is further improved, and the joint can control the front and back of the body and the tilting process autonomously during the running process. According to the obtained bionic and gait planning data, the control model is established and the parameter setting operation is performed on the climbing wall controller, optimize the adsorption control algorithm of the wall-climbing robot controller, and use the LM339 chip to improve the internal circuit of the JH-D400X-R4 six-way joystick, so that the adsorption and movement functions of the control wall-climbing robot can be better controlled， and the guiding path is used to strengthen the system's own protection and clean the path. The experimental results show that the System Vue-based wall-climbing robot controller has better control performance and the control time is increased by 1.52s.