The Design & Application Of Modular And Standardized Robot Perception System

Technology never stands still. Nowadays the demand for digital integration is growing rapidly; also the robot perception system is getting more and more complex and involving more and more interfaces. Respecting all these facts, the requirements for the system's openness and interoperability are getting higher and higher. Actually, no existent and unified design model is one of the most constraining factors for the development of our country's robot industry, and designing for a modular and standardized robot perception system becomes very urgent and necessary.Based on the principle of modular design, a model of robot perception system with modular features has been built and introduced in this paper. By applying this modular model to a foot perception system, it showed a good performance, and with advantages of reusable, easy to operate and etc. As a contribution, this modular model is providing a solution for reducing the expenses during development of robot perception system, and which also can be a basis for developing robot system with extensive interoperability. This paper can mainly be divided into the following parts:1,Build a model of robot perception system, which has modular design concept and separable framework. The modules of the model are reusable and replaceable;2,Design a software module for the robot perception system, which has high flexibility and can be updated to cope with rapid updating of hardware issues. The software module includes data description of sensors, data description of system nodes, protocol specification, and the definition of the user interface functions;3,Apply the modular model successfully to a foot perception system. The foot perception system is designed based on DSP hardware platform, which give the standard data description for the system's six-axis force sensors, gyroscopes and system nodes. The system has a uniform protocol and provides a standardized user interface functions. Under the development of LabVIEW, control interface has been designed and through which, edit, read and save the system's data can be achieved.