Design Of Mobile Manipulator Platform System

Mobile robot is a compositive system which integrating multifold function such as apperceiving environment, dynamic decision and programming,action controlling and performing.Mobile manipulator is a special robot constructed by mounting a manipulator on a mobile platform.The arm can grasp object, improving the plat's performance;and the mobile plat extends arm's workspace,providing it work in good pose. Mobile manipulator is always focus in robot research,this thesis is based on "211" project, make some research on the design of mobile plat.The plat is a three-wheel car drived by DC-motor,using a DSP as a micro-controller, navigating by coders on the motors shaft.It can move on a close plane surrounded by wall and use ultrasonic and bumper sensor to avoid obstacle.With a manipulator on itself to grasp object at specific scope,the arm has a CCD camera and a PC104 computer with image collector as vision system,realize searching, orienting and identifying to object.The plat use a PC104 computer as its independent movement controller,it can communicates with a remote computer by wireless net,receive command and feedback movement information.The ultimate aim is to make the plat can move and avoid obstacle independently in the encloser,grasp the object with specific character by computer vision.This system can provide a ideal experiment plat for the research of artificial intelligence,nerve network, computer vision and so on.