| Summary: | In the construction industry, the cement floor is often polished by manual and mechanical methods. The working environment is harsh and the working efficiency is low. The automatic polishing robot can replace manual operation and improve the working efficiency. In this paper, the basic motion of the cement floor polishing robot is studied, and the motion control scheme of the robot is proposed. Firstly, the kinematics model of the robot and the speed control algorithm to realize the basic motion were designed. Then, the design of the motion control system of the cement ground grinding robot was designed with STM32 single chip microcomputer as the control core, and the basic motion control in the complex trajectory of the robot was realized. Experimental results show that the maximum positioning error of the robot is 3.1 cm when it moves in a straight line and turns. The reliability and stability of the system for the basic motion control of the robot are verified, which provides a reference for the control of similar robots.
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