Research On A Service Robot Walking System

Robot technology is a multidisciplinary field of cross-fusion technology.The emergence of robots is mainly to assist and replace human beings in a specific or dangerous environment to work.The emergence of mobile robots has greatly expanded the application field of robots.In the 21 st century,the aging phenomenon in various countries is becoming more and more serious,and the number of people with disabilities who need rehabilitation care is also high every year because of vario us reasons.How to ensure the normal life and daily needs of these people has become a great social problem,and then the service robot market has emerged.The main contents of this study include the following aspects:Firstly,the scheme of a walking system for service robots is proposed.The overall framework,the software platform,the control system and the hardware of the walking system is configured.The functional modules,performance requirements and expected goals of the walking system are clarified.Based on the analysis of the special structure of the mecanum wheel,the mechanism of free movement on the moving surface is obtained;the kinematics model of the 4 mecanum wheel “O” distribution of the service robot walking system is established based on the research objectives;the service robot walk ing system's dynamic model is constructed from the perspective of mechanics and energy.Secondly,this paper studies the construction mechanism of the environmental map of the two-dimensional lidar,and analyzes the process of acquiring point cloud data based on RPLIDAR-A2 lidar and constructing the environmental map through data matching in detail.The path planning algorithm based on the global map is studied,and the algorithm is optimized,an improved genetic algorithm is proposed.The improved algorithm and tracking controller are verified by experimental simulation.Finally,based on the research on real-time map construction,path planning and trajectory following of autonomous mobile service robot SLAM technology,a prototype of service robot walking system was built.The experiment of various functions of the walking system in the dissertation proves that the service robot walking system basically meets the design requirements.