| Recently, people pay more attention to the quality of life for people with disabilities and the elderly with rapid progress of medical, health care and biomedical technology conditions. The emergence of various assistive devices with the function of disease nursing and rehabilitation makes mobile robots become a hot topic in the field of assistive devices. Specially, the mobile robot for the elderly and disabled has received attention by many researchers, which owns high research value and stimulates the market demand.Motivated by this, we make detail research on human-computer interaction system and the application of motor driver in mobile robot. The main research are as follows:(1) The human-computer interaction of mobile robot is the foundation of the whole control system. In this paper, a human-computer interaction model based on hall joystick is designed, which is used to identify the user's intention of operation and respond accurately. The space position of hall joystick is mapped to two-dimensional rectangular coordinate system and extract the coordinate location. The speed and direction information of the position information vector is obtained by synthesizing the robot operation, so that users can better control the mobile robot.(2) In order to enhance the flexibility of robot, the electronic differential algorithm is used according to the steering robot model in the two-wheel motor drive control system. The kind of control strategy can determine the specific operation state by calculating the corresponding relationship between the rotation angle and the different speed of internal and external driving wheel.(3) The stability and comfort of the drive control system is one of the important indicators. Because the acceleration of the mobile robot is prone to mutation when the steering switch is switched. In this paper, the least squares is used to optimize the speed characteristic curve of the motor, which makes the robot run more smoothly and ensure the stability of the system.(4) We design the control system of the mobile robot, which consists of two main parts. One is the human-computer interaction system combing the microcontroller STM8S903 as the microprocessor and the joystick as the interaction method. The other is the drive control system combing TMS320F28335 as the main control chip. The human-computer interaction system collects the position information of the joystick and the configuration information of the key, which can control the operation of the motor in the drive control system. At the same time, drive control system timely feedback the operation state to the human-computer interaction system.Fortunately, we have achieved good results in the system test, which provides the foundation for research and development further. |
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