Algorithm Implementation Of A Two-arm Puzzle Cube Robot

The Rubik's cube robot is an electromechanical control integrated platform that integrates multi-disciplinary knowledge of robot vision,image processing technology,robot control technology,and Rubik's cube reduction algorithm.The Rubik's cube robot has become one of the research hotspots of artificial intelligence in recent years due to its strong fun,interaction and challenge.In this paper,a puzzle-solving robot that can restore any disordered third-order Rubik's cube is designed,and a prototype is made.The robot uses the Redmi note1 mobile phone as the main controller to run the Android system,and the STM32single-chip microcomputer as the auxiliary controller to control the operation of the servo.The two implement data communication via Bluetooth.The solution of the Rubik's cube robot is different from the previous color recognition method.The color recognition method based on the RGB color space is adopted,this paper introduces KNN classification algorithm in color recognition,which eliminates the impact of light intensity on color recognition,and its color recognition rate is close to 100%.The algorithm with the fewest number—the two-stage algorithm,controls the number of reduction steps of the third-order Rubik's cube in any state within 21 steps,which is more advantageous than other reduction algorithms.In order to solve the problem that the two-stage algorithm takes too long to solve,this article uses The "time-limited solution" method optimizes the algorithm.For the restoration instructions obtained by the algorithm,the Rubik's cube robot is optimized using a five-tree model,and the average optimization ratio reaches 31.7%,which has a significant optimization effect.The Rubik's cube robot uses a rudder.As the driving component,the idea of pulse incremental interpolation in the numerical control system is applied to the speed control of the servo,which solves the problem of robot structural interference,and realizes the continuous speed adjustment of the servo.There is a good balance between stability.The experimental test results show that the Rubik's cube-solving robot can restore the third-order Rubik's cube in any state within 70 S,and achieve the expected design goal.The design and optimization method adopted in this paper solves the problem ofinsufficient robot freedom,shortens the number of reduction steps,and has a high reference value for the development of related robots.