基于ZedBoard下棋机器人设计与实现

发布时间：2018-07-21 12:52

【摘要】：触手可及的网络和智能手机丰富着人们的日常生活,远程控制的扫地机器人、监控摄像头、电饭煲等智能设备,使人们的生活不断丰富和便捷,科技实现了远在天边却亦可尽在眼前。机器人技术的日益发展,使得人类可以不用进入高危和恶劣的作业环境完成工作,让人类的活动能力在空间上进一步得到了延伸。本文基于ZedBoard板卡控制系统的服务端和安卓智能手机APP的客户端,以四自由度Uarm桌面迷你机械臂为控制对象,通过socket构建一个网络化远程控制系统。系统设计基于C/S模式的Uarm机械臂网络化远程控制,实现在同一局域网内远程控制机械臂完成象棋的取子和落子动作。第一章阐述了机器人技术在中国老龄化愈演愈烈现状下的研究意义,以及国内外机器人技术发展现状。在第二章中主要介绍了实验中涉及到的Socket通信、Uarm机械臂、ZedBoard等软硬件相关技术和设备。第三章描述了整个系统中各模块的功能实现,详细阐述了基于ZedBoard图像采集和机械臂控制原理,成功编程实现了对摄像头的控制,完成了图像采集。在机械臂控制过程中提出了利用微分的思想,成功的解决了由机械臂运动惯性带来的精度误差问题。第四章是系统实现章节,分别对系统中每个模块进行了单独的测试,并将各子模块整合成最终下棋机器人系统,完成了系统的最终实现。最后一章对实验研究与结果进行了总结,并对系统提出一些不足和可行性研究内容。在这个硬件智能化快速发展的时代,仍有很多优秀的科学研究因种种原因不能及时有效的应用于实际的系统中。在这大众创新、万众创业的大环境下,将科研理论和科技创新与实际工程相结合,让科学技术更好的为工作生活服务已经成为目前国内外学者的研究趋势,同时也是本篇文章的研究意义所在。
[Abstract]:The accessible network and smart phone enrich people's daily life, remote control of floor sweeping robots, surveillance cameras, rice cookers and other intelligent devices, making people's lives rich and convenient. Technology has been achieved far from the horizon but also in sight. With the increasing development of robot technology, human beings can complete their work without entering high risk and bad working environment, so that the ability of human activity can be further extended in space. Based on the server of the ZedBoard card control system and the client of Android smart phone app, this paper takes the four-degree-of-freedom Uarm desktop mini manipulator as the control object, and constructs a networked remote control system through socket. Based on the C / S mode, the system designs the networked remote control of the Uarm manipulator, and realizes the remote control of the manipulator in the same local area network. The first chapter describes the research significance of robot technology in China's aging situation, as well as the development of robot technology at home and abroad. In the second chapter, we mainly introduce the hardware and software related technology and equipment, such as socket communication, Uarm arm, ZedBoard and so on. The third chapter describes the function realization of each module in the whole system, and expatiates on the principle of image acquisition and manipulator control based on ZedBoard, successfully programming to control the camera and accomplishing the image acquisition. In the process of manipulator control, the idea of differential is proposed, which successfully solves the problem of precision error caused by the motion inertia of manipulator. The fourth chapter is the implementation of the system, each module in the system is tested separately, and the sub-modules are integrated into the final chess robot system, and the final implementation of the system is completed. In the last chapter, the experimental research and results are summarized, and some deficiencies and feasibility studies are put forward. In this era of rapid development of hardware intelligence, there are still many excellent scientific research for various reasons can not be used in practical systems in a timely and effective manner. In this general environment of mass innovation and mass entrepreneurship, combining scientific research theory with scientific and technological innovation and practical engineering, enabling science and technology to better serve work and life has become the research trend of domestic and foreign scholars at present. At the same time, this article is also the significance of the research.
【学位授予单位】：江西农业大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP242

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