Design And Implementation Of Intelligent Service Robot For Restaurant Based On SLAM

In recent years,the increasing nu,mber of robot-themed restaurants around the world has led to a growing demand for intelligent robots in the service industry.In this paper,based on SLAM(Simultaneous Localization and Mapping)technology of mobile robots,a restaurant intelligent service robot is designed and manufactured by combining robotic arm technology.The robot used to clean the dining table automatically.It has a chassis that can move in all directions.And an independently designed robotic arm is installed above the chassis.Under the framework of Robot Operating System(hereinafter referred to as ROS),the robot can locate and navigate autonomously.Thus,the robot can move to the appointed position and grab the objects in the designated position.The robot also has the ability to avoid obstacles in the course of running.Firstly,it is the design of the shape and structure of the robot,including chassis design,robotic arm design and motor control driving board design.The chassis of the robot is reconstructed and designed on the basis of the chassis shell of the medium-sized soccer robot.By analyzing the structure of the robot chassis,the motion control equations of the omnidirectional mobile robot chassis are established,which can solve the speed control command of the robot into the control speed of each wheel.Then the inverse motion control equations are deduced from the motion control equations,which can deduce the whole motion speed information of the robot based on the encoder data of each wheel.Subsequently,a low-cost robotic arm and motor control driving board are designed independently.The force analysis of the robotic arm is carried out,and the force magnitude of each joint is obtained.Then the appropriate motor is selected for each joint.The motor control driving board is used to drive the chassis and arm movement of the robot.Secondly,it is the design of robot software control program.The software control program of the robot is designed and developed based on the ROS.The control state of the robot can be divided into two states:automatic control and manual control.Iin the state of automatic control,the chassis and arm of the robot are controlled by linkage,and the robot can pick up the objects at the designated position of each dining table independently.In the manual control state the chassis and the arm are independently controlled.They can control the motion of the chassis or the arm independently.The motion state of the robot can be monitored in real time by the model in the remote-control interface.Then,the robot will move to the target position autonomously after it receive target command.The related algorithms of the lidar SLAM are introduced in this paper.The global path planning algorithm and the local path planning algorithm of the robot are expounded in this paper.The effects of each algorithm on the restaurant robot are also demonstrated.Finally,the motion effects of the chassis,robotic arm and the whole machine are tested.By comparing and analyzing the odometer data of the robot in the simulation environment and the real environment,the reasons for the inaccuracy of the odometer in the real environment are found,then this problem is resolved.The accuracy of the angle sensor of the robotic arm and the motion effect of the robot are tested,which verifies the effect of the robot to grasp objects and the ability to avoid obstacles.