Design And Research Of Movement Control Of Wheeled Family Service Robot

Due to the fact that service robots can have kinds of abilities to provide service under kinds of working conditions, the service robots can be categoried into many types. Among them, the family service robot have rapidly drawn more and more attention from the the whole society and many families because of its ability to sovle the aging problem and great economic benefits, thus the research of family service robot means a lot of greate significance.The content of this thesis is based on “The development and research of intelligent family service robot” project from the Center of Robot Research of University of Science and Technology of China. On the basis of the laboratory-made wheeled family service robot SRU, the robot movement control architecture is proposed in this thesis with the consideration of the properties of the chassis structure and body joints structure, meanwhile, different control strategies are adopted to design contrllers in order to satisfy the different requirements and control targets of robot chassis and body joints.Firstly, the omni wheeled chassis and 2-DOFs bendable body are designed as the humanoid robot SRU’s basic structure. Then based on this structure, the movement control architecture is built as a distributed 3-layers structure, in which the Mini PC is the player of the top layer, computing and formulating kinds of moving control orders; the chassis movement embedded controller and body movement embedded controller work together to act as the middle layer commanders to control the actuators and process the sensors’ information; the bottom layer includes the actuators and sensors. The embedded real-time sytem μC/OS-III is designed to manage the softwares and hardwares in this control architecture, based on which the movement tasks and control communication links are designed and constructed.Then, the control problem of the wheeled family service robot for chassis movement is researched. Based on the methods of D-H and Newton’s Laws, the kinematic model, pose kinematics model and the dynamical model of the chassis are built, obtaining the realationship between the three chassis wheels’ speeds and the robot SRU moving speed, along with which is the realationship between the robot moving speed, accelerated speed and motors’ forces. In order to realize the chassis trajectory tracking target, fuzzy PID controller is designed on the basis of the chassis kinematic model. In the Matlab simulation, the controller is feasible to control the robot chassis to realize desired trajectory tracking.Lastly, the controller of the wheeled family service robot for the body movement is studied. The body movement kinematics models are analyzed using D-H method and the body dynamic model is built using the Lagrange Equation. In order to minimize the uncertainties’ influences during the the process of body joint trajectory tracking, the dynamic model-based adaptive controller is proposed to make dynamic compensation for unknow system parameters, and the system stability is ensured via Lyapunov function. The simulation and experiment results show that the designed adaptive controller can effectively control the robot body joints to track trajectory tracking.