The control system design of the wheel-legged robot

Abstract

The wheel-legged robot had deep integration of their respective advantages between the wheeled robot and the legged robot. The control system of the wheel-legged robot is the core contents of research, so the control system was designed and researched in the paper. AT89C52 single chip microcomputer was used as the control center in the control system of the wheel-legged robot. The control system mainly included the remotecontrol unit, the order processing system, the actuator control system. The order processing system will send orders for the actuator control system when the system had received the signal of the remote control system, and so that the robot can accomplish the scheduled action. The experimental results showed that the maximum error of the PWM signal controlling actuator is less than l under the crystal oscillator frequency for 24M conditions.