Structure Design And Control Research Of Intelligent Service Robot

The intelligent service robot is developing rapidly and being paid more attention as thesociety goes on. It is applied in actual life, to make people benefit from it. This paper designsa kind of wheeled mobile service robot, and does research about the robot control.First of all, the design requirements of the robot are analyzed, and then the modeselection are accomplished about the arm structure, chassis structure and driving, to establishthe general structure design. Furthermore, according to the general structure of the schemeselection, the design of overall structure is done, as well as the finite element analysis of themain stress components.Then, this paper makes up modeling of the intelligent service robot manipulator by theD-H method, according to which, the kinematical analysis is done. The inverse kinematics issolved combined with pose constraint conditions, then the results of it are verified bySimulink simulation. It makes analysis of manipulator working space, including reachingspace and end-attitude-level space.Furthermore, the planning has been made based on speed smooth motion and trajectory.Then the planning results are verified, which show that this kind of planning method issuitable for the robot. The control system is accomplished, as well as the motor controlmethod analysis simulation.In the end, based on control and trajectory planning research, this paper does theexperimental research about the intelligent service robot prototype. The planning trajectoryand control research effect are tested well, through the single and multiple joint closed-looptrajectory tracking experiments. Based on the above theoretical and experimental research,this paper demonstrates that the intelligent service robot design and control research arerational.