面向应急机器人的机械臂无线控制系统设计

针对处理油气场站有毒气体泄漏事故的应急机器人，设计一种基于DSP和AR9331模块的机械臂无线控制系统。该系统用6个舵机配合金属支架搭建机械臂硬件结构，以TMS320F28335 DSP为核心处理器，利用其ePWM模块驱动舵机，同时通过AR9331 WiFi模块和DSP的SCI模块实现DSP与上位机之间的无线通信，由此完成了该无线控制系统的全部搭建。实验过程中，在上位机端通过无线通信模块向DSP发送各种控制指令，对各个舵机进行协调控制，从而控制机械臂进行清理障碍物、启闭阀门等应急处理操作，验证了该无线控制系统的可行性。实验结果表明该机械臂无线控制系统控制精度高、调节速度快、可靠性高。机械臂能够在0.5s内接收并完成指令，舵机角度误差在1°以内，满足应急机器人的操作需求。

The Design of the Wireless Control System of Manipulator for Emergency Robot

Aiming at emergency robot dealing with toxic gas leakage accidents in oil and gas stations, a wireless control system for manipulator based on DSP and AR9331 modules is designed. The system uses 6 servos cooperating with the metal bracket to build the hardware structure of the manipulator. It uses the TMS320F28335 DSP as the core processor and uses its ePWM module to drive the servos. At the same time, the AR9331 WiFi module and the SCI module of the DSP realize the Wireless communication between the DSP and the host computer. Thus the entire construction of the wireless control system is completed. During the experiment, the host computer sends various control commands to the DSP through the wireless communication module to coordinated control each servo, so as to control the manipulator to clean up obstacles, open and close the valve and other emergency handling operations, verifying the feasibility of the wireless control system. Experimental results show that the manipulator wireless control system has high control accuracy, fast adjustment speed, and high reliability. The manipulator can receive and complete instructions within 1s, and the steering gear angle error is within 1°, which meets the operational requirements of emergency robot.