Robotics Technologies microBus-Cam II Instrukcja Użytkownika Pobierz pdf (Strona 17)

Development of Mobile Robot Based on I

C Bus System

209

The examples of function ordering to connect a slave device through I

C bus to receive data

are detailed below.

5.3.1 Function ordering for encoder information reading

The encoders are mounted at motor and their information is read by motor controller

(MD25). The MD25 is designed to operate in a standard I

C bus system. To read encoder

information, the function ordering can follow as below.

Step 1 : I2C_START ( ),

Step 2 : I2C_SEND ( ) – Call encoder address and write mode configuration,

Step 3 : I2C_ACK ( ),

Step 4 : I2C_SEND ( ) – Write the register number,

Step 5 : I2C_ACK ( ),

Step 6 : I2C_START ( ),

Step 7 : I2C_SEND ( ) – Call encoder address again,

Step 8 : I2C_ACK ( ),

Step 9 : I2C_RECEIVE ( ),

Step 10 : I2C_ACK ( ),

Step 11 : I2C_STOP ( ).

By using the feedback information from the two encoders on the left and right wheels of

mobile robot, the position and heading angles of the mobile robot can be estimated. The

distance and heading increment can be obtained as follows. (Hye Ri Park, et. Al., 2009;

Surachai Panich, 2010a; Surachai Panich, 2010b; Surachai Panich and Nitin V. Afzulpurkar,

2011).

encoder encoder

R,k L,k

encoder

Δd+Δd

Δd=

(1)

encoder encoder

R,k L,k

encoder

Δd-Δd

Δψ =

(2)

Then the position can be estimated as

X=X+Δd

encoder

kkxk

(3)

Y=Y+Δd

encoder

kkyk

(4)

ψ = ψ + Δψ

encoder

kkk

(5)

where

Δd=Δdcosψ

encoder encoder

xk k



Δd=Δdsinψ

encoder encoder

yk k



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