Development Of A Service Robot With Remote Control Posture Simulation Function

In recent years,with the continuous development of smart devices and people more and more pay attention to the quality of life,the smart service devices have received extensive attention,among which the development of mobile service robots with robotic arms has been particularly valued.Ordinary service robots have monotonous functions and often only process the service function of helping people grab objects,which cannot meet the requirements of people for functional diversity.Therefore,this article designed a service robot with entertainment function of remote control posture imitation,the operator uses the control of the robotic arm to imitate the preset posture of the robotic arm.and then the system uses the scoring algorithm to score the degree of the posture imitation,this function needs to be implemented on the service robot system.It has analyzed the functional requirements of the service robot and designs the overall scheme in the article.The control information were generated from the main control unit made by UP board Development Board,to communicate with STM32F407.In the control of each joint of the manipulator,and the steering gear in the joint was driven by STM32F103 as a driving module based on CAN(Controller Area Network)bus communication technology.The motor of the mobile chassis was controlled by the STM32F407 output PWM(Pulse Width Modulation)signal.While selecting the control board of the control unit,other modules were selected and the hardware connection was completed.In the remote control posture imitation of robot,the overall structure of the service robot was drawn by Solid Works software,and then the plug-in was used to convert it into a URDF(Unified Robot Description Format)file to complete the construction of the URDF model.A D-H(Denavit-Hartenberg)parameter model hasbeen established,the algorithms in the KDL(Kinematics and Dynamics Library)inverse solution library was analyzed,two kinds of RRT(Rapidly-exploring Random Trees)path schemening algorithms were compared and analyzed,and finally the RRT-Connect algorithm was chosen.The robot was configured by using Move It software in the ROS(Robot Operating System)development platform.In order to ensure the more accurate desired posture of manipulator movement,the composite motion of the manipulator was analyzed,and the rotation angle of the manipulator joint was detected,and the posture was corrected by using MPU6050 sensor.A scoring algorithm for comparing the joint angle value of the preset posture of the robotic arm and the imitated posture is designed,which completes the realization of the remote control posture imitation function,so that the system can meet the requirements of diversified functions.In the software design,the software design of the motion control module and CAN node and other modules is carried out according to the function.Finally,the debugging and improvement of the service robot was completed,so that the entire system can run stably and effectively,and the service robot finally achieved the expected operating effect.