Research On Key Technologies Of General Service Robot Platform

With the improvement of people's living standard and the increase of population aging in China,the demand for service robots is increasing.However,there is no universal robot platform,expensive controller and the openness is poor.The algorithms used are different,and the lack of software and hardware integration platform.In this paper,a low-cost universal rectangular coordinate service robot platform and expandable motion controller are designed,which can accomplish the task well.This paper mainly completes the following aspects:(1)A universal service robot platform is designed,which can be used in many low-cost situations.The platform is constructed by sliding platform module.X?Y?Z-axis are driven by the lead screw and the two-phase stepping motor.(2)Aiming at low precision of open-loop control of stepper motor,high cost and large volume caused by the joint drive of controller and driver,a motion controller of service robot is designed.The controller adopts an expandable master-slave management architecture,and data exchange between modules is completed by SPI bus.A two-phase stepper motor special control chip is used to realize a closed-loop motion control module integrating stepper motor drive and motion control,which reduces the cost and shortens the development cycle.(3)According to the characteristics of the universal service robot,the interpolation algorithm is used to realize the motion control of the robot,including linear interpolation and circular interpolation.Analyzed the principle and implementation process of the algorithm,solved the interpolation algorithm based on MCU,and wrote the test software to verify the algorithm.The results show that the theoretical and engineering test results are very close.(4)In order to realize the monitoring of the motion control of the robot,a motion control monitoring system and basic platform of the whole machine monitoring system are designed.From the characteristics of the robot,designed the structure of the monitor system and the specific functions that different modules should implement according to the requirements.After testing the machine,the robot can run normally and achieve the expected functions.The results prove that the prototype design of the service robot in this paper is feasible,whichset the foundation for the follow-up research.