Design and Implementation of a Motion Control System for an Omnidirectional Mobile Platform Based on a Microcontroller Microprocessor

Abstract

This paper details the design and implementation of an omnidirectional mobile platform motion control system built upon a microcontroller-based microprocessor. The mechanical framework employs low-hardness, lightweight aluminum extrusions as base materials, featuring a pentagonal chassis structure integrated with omnidirectional wheels. This configuration ensures agile movement while enabling on-the-spot rotation and high-speed cornering. The execution system innovatively incorporates an electric screw-driven parallel mechanical gripper for severing fruit stems and grasping objects. Hardware design centers on the selection of the main control board (ROBOMASTER Development Board Type C, utilizing a high-performance STM32 chip) and motor selection (M3508 geared motors for the chassis, 57 stepper motors for the robotic arm). On the software side, the system employs semi-automatic control to adapt to complex environments. Key implementations include DBUS protocol parsing for receiving remote controller commands and CAN communication protocol for efficient control of multiple M3508 motors. Additionally, the software design incorporates PWM signal control and PID closed-loop speed control system design with parameter tuning. Through the seamless integration of mechanical, hardware, and software components, this solution successfully establishes a complete control system with high real-time performance and stability.