An Embedded Control System for Mobile Robot

The control system and the navigation positioning system based on ARM processor and MEMS devices were designed for welding mobile robot.The peripheral circuit of the gyroscopes and accelerometers and the corresponding AD sampling module were specifically described.The solving method of position and pose in a strap-on inertial navigation system was also described.The simulation results show that this navigation positioning system can accurately give the position and pose of welding mobile robot.