| With the development of society and technology,people's material life has been a great deal of satisfaction,people's pursuit of non-material needs of life gradually improved.At this time,indoor service robots have gradually gained people's attention.The research of this subject is based on the company's service robot project,and a medical service robot is designed.Its application scenarios are mainly for hospital diagnosis.All kinds of indoor scenarios can replace the staff to complete registration,preliminary diagnosis,search for people Interactive entertainment and other tasks.Service robot structural design and motion control are the most basic links in robot design.Based on the company's existing two robots,this paper carries out structural design and motion control of medical service robots,providing a reliable platform for subsequent work.The specific research content is summarized as follows:According to the design requirements of the mobile robot,the driving force of the robot under typical working conditions is analyzed,and the appropriate chassis structure style and driving motor are selected.By analyzing several suspension mechanisms of the mobile chassis,according to the design requirements of the robot,a transverse arm independent suspension mechanism is designed to complete the structural design of the robot chassis and then complete the overall model design.Then,according to the control scheme of the hub motor,the control method of the hub motor is selected as vector control.For the traditional vector control mode,a fuzzy control strategy is introduced to realize the fuzzy adaptive vector control of the hub motor.Through Matlab,a simulation model is built,and the advantages and disadvantages of the two control methods are simulated and analyzed.The realization of robot navigation.Deducing the angle of the human sound source.After the robot obtains the angle information of the sound source,it starts the path planning.By setting a series of sampling points,the robot sequentially navigates to these sampling points to find the human sound source.According to different scenarios,whether there is an obstacle between the robot and the human sound source,after the robot encounters pedestrians in the process of tracing,the human body is lost and other three common scenarios,three strategies for tracing navigation are proposed,and finally the robot is realized people tracing.In the actual office environment,experimental verification of robot motion control and tracing navigation. |
PDF Full Text Request