Research Of Key Techniques In The Control System Of The Service Robot

In internet and cloud computing service booming era, in order to solve some of the problems of China's aging population, this paper makes a full investigation about the domestic robot on the market, does a deep study on the integration of automatic control technology for domestic robots. In order to realize the functions of home-service robot, this paper mainly involves the following several aspects:1. Because of the robot is a complicated multi-variable control system, this paper studies the RS485-bus method based on MODBUS protocol. The method separates and modularizes the robot's motion, environmental awareness and interaction system.Do rearch on the method of using universal microcomputer as central control system.Complete the client software based on MODBUS protocol by using Qt library in the Windows system.The server device realizes each module functions by using the STM32F407 chip based on Cortex-M3.2. This paper introduces the control method of several degrees freedom robot joints, focus on positive and inverse algorithm of the robot's arm joints and discusses how to make the end of the manipulator path planning.Analyse the relationship between coordinate system and the joint space.And uses open source platform OpenCASCADE 3d engine library to write 3d simulation system with c++ realizing the algorithm of straight line and arc interpolation.3. Aiming at the indoor positioning of robot, this paper designes positioning scheme adopting DecaWave company's UWB pulse radio ranging. Robot positioning accuracy up to 30 cm, meets the requirements of development.4.In order to make the robot has the memory function of teaching data, this paper studies the numerical control technology based on G code, achieves the motion control when brain need to call the corresponding teaching G code.5. Make full use of the internet service, study a robot technology cloud services control framework. use the iFLYTEK sound cloud service engine, realize speech recognition on the android platform and communication between cellphone and robot.The main innovation point in this paper: using the open source platform OpenCASCADE to build the model of robot control, realize positive and inverse algorithm and 3d visualization efficiently. On the robot's training,we use the G code to store the movement message and reappear the teaching.