Applications of the Network Controlled System to the Omni-directional Mobile Robot

摘要

The network control system (NCS) becomes popular in recent industrial applications. Typical advantages of NCS like low cost, reduction of the assembly wires and installation, and maintenance. The command between DSP and each motor can be controlled by either the centralized structure with a voltage signal or the proposed network distributed structure. In this paper, the serial interface RS-232 is adopted because of its wide applications and support in both hardware and software. The DSP F2812 controls four servo motors through the RS-232 interface. The kinematics model of the omni-directional mobile robot (ODMR) is also considered and the relation between robot and each axis is decoupled by applying its inverse kinematics. The mobile robot was tested with both at a low speed (30 cm/s) and a high speed (100 cm/s). The sampling time for the centralized control structure is usually faster compared with the NCS structure. A suitable sampling time for the NCS with the applications of the ODMR indicates the balance between the sampling time and system performance in real applications.