Journal of South China University of Technology (Natural Science Edition) ›› 2006, Vol. 34 ›› Issue (7): 26-30.

• Mechanical Engineering • Previous Articles     Next Articles

Motion-Controlling System of Patrol and Security Robot Based on DSP

Zhang Tie  Xie Cun-xi  Gong Shu-qiang   

  1. College of Mechanical Engineering，South China Univ.of Tech.,Guangzhou 510640,Guangdong,China
  • Received:2005-10-27 Online:2006-07-25 Published:2006-07-25
  • Contact: 张铁(1968-)，男，副教授，博士，主要从事机器人技术及应用研究. E-mail:merobot@scut.edu.cn
  • About author:张铁(1968-)，男，副教授，博士，主要从事机器人技术及应用研究.
  • Supported by:

    华南理工大学高水平大学建设项目(305一B26)

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Abstract:

A novel patrol and security robot driven by two DC deceleration servo motors is developed in order to meet the requirements of safety in public locations. A classified system is adopted in the control of the robot,which includes the main control level,the coordinating level,the executing level and the remote control level. This paper mainly deals with the DSP control system,the inspection methods of the parameters in the coordinating level and the executing level,and the driver circuit of the motors. Moreover,the algorithms and program of the three-loop control of the robot are proposed. A running experiment is finally carried out,verifying that the proposed control system can completely meet the servo control requirement of the patrol and security robot.

Key words: patrol and security robot, motion control, DSP control, servo control