Control & Path Planning Research On Nurse Assistant Robot

Nurse Assistant Robot is a kind of Mobile Service Robot. First, operating in hospitals and self-navigating, it can deliver all kinds of things for the patients in sickroom and promote hospital automation. Second, the robot can enter the infection sickroom to execute medical care job, such as the medicine distribution and spraying disinfection and so on. So it can protect the nurses from crossing contamination. The research of this paper is supported by project of "Key Technologies of Nurse assistant robot", funded by the "Hei Longjiang Natural Science Fund".The paper overviews the research and developing situation of Nurse Assistant Robot in America, Japan and China. Taking consideration of the concrete function, the robot's system architecture is designed. The architecture designs of the underpan and goods emplacing space are introduced, so do the installing architecture of the manipulator and touched screen. Also, the model of the kinematics and mathematical model of the dual-differential driving of the robot are theorized.Based on the hierarchy control structure theory, the control system and hardware configuration of the Nurse Assistant Robot are designed. The smallest system design of the main controller which uses the TMS320F2812 as the core, interface, driving circuit are introduced. The motor driving system based on AVR singlechip is developed. First the motors selecting is discussed. Then the motor driving system is introduced, including the design of the microcontroller system, DC motor power driving module. The magnetic sensing system and man machine interface are also designed.A path planning method which is based on the genetic simulated annealing algorithm is developed for the robot navigation. The characteristic and steps are introduced with the parameters of the algorithm being studied and setted. Then the simulation of the algorithm is carried out in MATLAB and the simulation results are compared and analysed.