Research And Implementation Of Intelligent Service Robot Control System

With the development of science and technology, service robots have gradually entered into all areas of human’s daily life, such as healthcare, utilities, security, transport, agriculture and so on. There exit more and more challenges in our aging society. Therefore, studying the intelligent robot is very significant to our life. The main research content of this article is as follows:(1) Firstly, development of the service robot in developed countries was studied and the key technology of the service robot was obtained. Then the mechanical structure and control system of the service robot in accordance with the requirements of the project were proposed, and the kinematics of the service robot was analyzed.(2) Robot control system design:the internal control systems and external control system of the service robot were designed.The internal control system of the service robot includes the PC host and two control boards. The service robot was controlled by the PC host, which consists of the control software, speech recognition system and speech synthesis system. The main chip of the control board is a 32 bit STM32F103VET6 microcontroler of ARM company research, the mobile platform and upper body joints were controlled by the control boards separately. The PC host and two control boards could communicate efficiently with each other by using the CAN bus for its anti-interference ability and high transmission speed.The external control system of the service robot includes wireless remote control handle, remote controller, microphones and wireless headphones. The wireless remote control handle and remote controller control the service robot through the wireless data transmission module. And the function of the voice synthesis and control can be obtained by the microphones and wireless headphones.(3)The control software design of the service robot includes the design of the control software of the host, the control panel programming, the wireless remote control handle programming and the remote controller. The host contains the main control software, the voice recognition software and the speech synthesis software. Control board program of the mobile platform has the commonly used walking mode such as walking forward and backward, walking left and right sides, rotation program, automatically walking program according to the routes and obstacle avoidance program. The movement of each joint is controlled by the upper panel program of the service robot. And a new method was proposed in this paper to make the movement of the service robot smoother by controlling the velocity of the steering gear.(4) Debugging and experimental analysis for robot were carried out in the end.(5) Finally, the results and shortage of present study, as well as the prospects for the development of intelligent service robot, were summarized and analyzed.