Mobile Robot Obstacle Avoidance Navigation With Mobile Robot Capacity For Touch Control

Robotic technology has found widespread application in many industrial tasks, such as the manufacturing of cars, integrated circuits and numerous other high-volume products. Most applications share the characteristic of being performed in structured and highly constrained environments. However, there are many industrial or domestic applications, particularly the ones in the area of service, for which it is simply unreasonable to make such strict assumptions about the environment. Typical tasks in these areas require motion in populated and dynamic environments, manipulation of a wide range of objects with varying physical properties, and interaction with humans. So, research on mobile robots and mobile manipulators has been paid more and more attention in recent years. The focus of this dissertation can be divided into two parts: obstacle-avoidance navigation for mobile robot and collision-tolerant control for mobile manipulator. On the first subject of this dissertation, a navigation system using simultaneously-firing sonar ring and adopting the dynamic windows approach has been developed. The crosstalk in the simultaneous firing can be classified into two types: direct-path crosstalk and indirect-path crosstalk. To eliminate error data due to direct-path crosstalk, a filter method based on pattern matching using neural network is used in the system. At the same time, the histogrammic in motion mapping method is adopted to deal with indirect–path crosstalk. As a result, a scanning rate up to 66Hz of panoramic detection for a prototype of sonar ring consisting of 24 sonar sensors is achieved. The experimental results showed that the navigation system is applicable to high-speed navigation for mobile robot in unknown indoor environments. On the second subject of this dissertation, a human-symbiotic safe mobile manipulator to realize human safety, impact force absorbing and task fulfillment is described. The robot consists of an arm covered with soft materials and hybrid joints, which can be put into active or passive mode as needed. In an unexpected or expected collision with human, the arising impulse force is attenuated effectively by the physical model formed with the hybrid joint and the soft material. Owing to the...