Modulized Robotics And Its Key Technology

A new modularized architecture is investigated for general robot systems in this dissertation.This new architecture take extensibility,interoperability,portability and scalability of robot into considersation.Also,this dissertation defines some basic principle for design a modularized robot system.Meanwhile,some techniques on how to package each model is proposed in the dissertation.For the software system,a modularized software operating system is investigated,which is designed base on ROS operating system.Also,the detailed structure of this system is introduced.For the poor performance of real-time control on ROS system,a new type of hybrid operation system(ROS+Nuttx)is designed for robot control.Several type of robot platform are achieved with the new modularized system,include:1)A plug-and-play robot arm-Rinar,constructed with an improved extended modularized system,shows high performance on the rigid and stablility.This robot arm is also flexable,open and easy to be integrated with any other robot.2)A mobile robot.The hardware of the robot is based on x86 plateform.Which implement the principle of modularized system and separate the basic functions to different layers.3)The multi-robot system.Each individual robot act as a module in the whole system.And each module follows the design principle of the extended modularized system and they all have standard interface for communication.Also,in order to show the high performace of this architecture,a multi-robot coordination task is investigated.Representation Space(RS)is used to mapping the task and all constraints are depicted as unreachable areas in RS model.The task of multi-robot formation navigation in a warehouse environment is exemplified to illustrate the performance of the proposed scheme.Moreover,by incorporating the task oriented motion-planning framework,it is capable of transforming an infeasible task into a feasible one with least adjustments in the system's formation to adapt to inner and/or external constraints during task realization.4)The unmanned aerial vehicle(UAV)system.It is implemented to show the advantage of the modularized system proposed in this dissertation.As a robot with different model compared with robot arm and mobile robot,UAV has solid requirement on the response time.In addition,it need all modules in the system can communicate efficiently.In order to optimize the controller of UAV with random disturbance,a robust DOB based disturbance ejection controller is proposed and parameters optimization strategy is investigated.Experiments of attitude tracking on an aircraft are carried out to show the effectiveness of the proposed control strategy.