| Thanks to Ministry of Education technology research emphases project"Research and Development Based on the Remote-brained isolation ward Robot". The control system of the medical service robot based on the remote-brain has been studied and developed. It has some academic value and social effect on the research of the medical service robots in my country. The primary work is listed as following:On the base of the principle of dividing and cooperating between the remote-brain and cerebellum on board, the whole structure of the remote-brained medical service robot has been finished. The information exchange between the robot's brain and cerebellum is implemented via wireless communication, which meets the requirement of task-level control for medical service robots.Kinematics analysis has been done in this paper, which includes the positive, the athwart, and walking framework of the robot. Design of the hardware system has been finished, it is made up of the information processing circuit which takes AVR single chip microcomputer as the core, motor drive and power supply. Through the conversion between RS-485 and RS-232 bus, the serial communication is realized between the controller and PC on board. And the system has also good expansion ability.Employ ant colony algorithm to path planning on robot. As a novel simulated evolutionary algorithm, ant colony algorithm has many advantages such as robust, positive feedback and parallel. According to the isolation ward in the infection hospital, the simulation experiments have been finished in Starlogo. It has been proved by results that the algorithm is correct. |
