Design Of A Control System For Home Service Robot

The ageing of the population has led to more day care work.The decline in the demographic dividend has led to a shortage of labour.It provides the possibility for the development and popularization of home service robots..In addition,the contradiction between the current economic development and people's demands for higher quality of life,further illustrates the significance of the promotion of family service robots with various functions and convenient control.With the development of home environment-oriented service robot system integration function,it has been upgraded from helping to lighten the burden of housework,liberating people,optimizing living environment,improving quality of life and providing emotional communication and intelligent escort to family members of different age groups.According to the functional requirements of helping the elderly and the disabled and the application background of indoor family environment,this paper proposes a control system design scheme of family service robot.The design of robot body mechanism,kinematics modeling of system chassis and manipulator,navigation positioning and path planning,software and hardware design and service function realization of robot control system are studied in detail.The main contents are as follows:1.The development status and design characteristics of typical home service robots at home and abroad are emphatically analyzed.The structure and function realization of the whole system of home service robot are introduced in detail.Firstly,according to the mechanical structure characteristics of the robot,the configuration of wheeled mobile chassis and the design idea of human-like trunk joints and manipulators are introduced in detail.Then,the hardware models of electrical,driving and control systems for home service robots are selected,and the relevant parameters of the core control elements are given.2.Modeling and analysis of home service robots,kinematics modeling of wheeled mobileplatform,linear and arc motion models of odometer are analyzed.Constraint relationship between a joint and a connecting rod is defined by D-H method for bionic trunk and mechanism.3.Aiming at the problem of robot navigation,positioning and path planning,a self-positioning scheme is designed,which uses lidar to extract point and line features to describe indoor environment,and least squares method to accurately fit.Combining with the global path planning method based on potential field ant colony algorithm,a comprehensive simulation is carried out by using the best algorithm effect of grid method to verify the rationality of global path planning.4.The design and implementation of the control system of home service robot are introduced in detail.The structure of the control system is "PC upper computer + Trio motion device",and a simple and friendly human-computer interaction system is developed to collect real-time environmental information and control the robot to complete the manipulator operation task.