The control of Dynamixel RX-28 based on VC++ for the locomotion of cockroach robot

Author

Kang, Xin ; Shen, Wenda ; Chen, Weihai ; Wang, Jianhua

Author_Institution

Sch. of Autom. Sci. & Electr. Eng., Beijing Univ. of Aeronaut. & Astronaut., Beijing

fYear

2009

fDate

25-27 May 2009

Firstpage

495

Lastpage

499

Abstract

Through designing a main controller based on the AVR microprocessor, this paper proposes an approach to realize RX-28 multi-Dynamixel control to replace with conventional motor control. In addition, the mechanism of data transmission is designed also in the main controller. Aiming at the shortcoming of Dynamixel RX-28 that cannot be online controlled, a control software is developed under the programming environment VC++, so that the cockroach robot can be actuated by Dynamixel RX-28 in joint space and task space. Finally, an experiment is designed to control the 2-DOF, and 3-DOF single-leg of a cockroach robot respectively. The result verifies that the cockroach robot based on the Dynamixel RX-28 is small in size, light in weight and high in control accuracy.

Keywords

C++ language; control engineering computing; mobile robots; motion control; robot programming; AVR microprocessor; Dynamixel RX-28; RX-28 multi-Dynamixel control; VC++; cockroach robot locomotion; control software; data transmission; motor control; programming environment; Automatic control; Leg; Legged locomotion; Microprocessors; Motor drives; Orbital robotics; Programming environments; Pulse width modulation; Robotics and automation; Robots; DOF; Dynamixel RX-28; RS485; cockroach robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics and Applications, 2009. ICIEA 2009. 4th IEEE Conference on

Conference_Location

Xi´an

Print_ISBN

978-1-4244-2799-4

Electronic_ISBN

978-1-4244-2800-7

Type

conf

DOI

10.1109/ICIEA.2009.5138255

Filename

5138255