Design Of Modular Manipulator Intelligent Operating System Based On ROS

Science and technology change quicky,people hope that intelligent robot complete the specified tasks through interaction with robot.CBR(Case-Based Reasoning)imitated the human cognitive process.In order to provide solution it retrieved the most similar case for resuing through retrieve algorithm.Because of its short time case reasoning and easy learning ability,CBR became the hotspot of reasoning mechanism used on Human-Robot Interaction.This paper studies the basic knowledge of CBR at first,and analyzes the advantage and disadvantage of CBR reasoning mechanism.Based on CBR,an improved CBR-BDI reasoning mechanism which combining the BDI model desgin structure is propesed.So the intelligent robot with improved reasoning mechanism can communicate with user serveral times to know the user's intention through added map matching,desire analysis and user guide of three parts which improved the autonomy ability of robot.After that,a modular manipulator intelligent operating system combined with speech recognition,speech synthesis,object recognition,program parsing and other module based on ROS software framework is designed.It used CBR-BDI reasoning mechanism as the core of human-computer interaction module.Finally the speech recognition and synthesis effects,system function,human-robot interaction function and system intelligence are verified,tested,analyzed and evaluated in the practical platform.