基于星空定位的家庭服务机器人研究与开发

发布时间：2018-01-01 06:39

本文关键词：基于星空定位的家庭服务机器人研究与开发　出处：《浙江大学》2015年硕士论文　论文类型：学位论文

【摘要】：家庭服务机器人是一种集计算机技术、传感器技术、电子技术、控制理论等多种技术与学科为一体的综合性系统研究的产物。本文针对家庭服务机器人的相关技术进行了系统、深入的理论和试验研究,设计了基于星空定位系统的两轮驱动家庭服务机器人,采用了比例积分微分控制规律算法对电机模块进行控制,通过软件设计和调整模块参数使机器人达到既定的作业要求。第一章,介绍了家庭服务机器人的研究背景及意义,综述了国内外家庭服务机器人的研究现状,然后对家庭服务机器人的导航定位技术、路径规划技术、控制和驱动技术等几项关键技术进行了分析阐述,最后给出了本论文的主要研究内容。第二章,对家庭服务机器人的机械结构进行了介绍,根据作业环境以及作业内容选择和设计了其移动结构,采用两轮前置的驱动方式并设计给出了相应的5自由度机械臂。传感系统包括一组超声波传感器和七组碰撞感器。第三章,采用了模块化的设计思想,将复杂的机器人控制系统分解成简单的功能模块。介绍了家庭服务机器人底层硬件设备的相关模块以及各自的功能和原理结构。针对机器人工作环境,提出了一种基于星空定位的导航方式,通过红外识别预先设置的无源标签信息,实现机器人室内环境下的导航与定位。第四章,简述了PID控制算法在控制中的应用,完成家庭服务机器人的物体识别系统数据传输与控制、运动导航系统数据传输与控制、机械手系统数据传输与控制三大功能的软件系统的设计和参数调试。第五章,根据实际作业环境以及相关要求,进行定位移动和抓取试验。同时对服务机器人的具体参数进行测试。第六章,对全文进行了总结,并对未来的工作进行了展望。
[Abstract]:Home service robot is a collection of computer technology, sensor technology, electronic technology. Control theory and other technologies and disciplines as one of the products of a comprehensive system research. This paper makes a systematic, in-depth theoretical and experimental research on the related technologies of home service robot. A two-wheel-drive home service robot based on star positioning system is designed. The proportional integral-differential control algorithm is used to control the motor module. In the first chapter, the research background and significance of home service robot are introduced, and the research status of home service robot at home and abroad is summarized. Then some key technologies, such as navigation and positioning technology, path planning technology, control and drive technology, are analyzed and expounded. Finally, the main research contents of this paper are given. Chapter 2. The mechanical structure of the home service robot is introduced, and the mobile structure is selected and designed according to the working environment and the work content. The sensor system consists of a group of ultrasonic sensors and seven sets of impact sensors. In chapter 3, the modular design idea is adopted. The complex robot control system is decomposed into simple functional modules. The related modules of the underlying hardware of the home service robot and their respective functions and principle structures are introduced. This paper presents a navigation method based on star positioning, which realizes navigation and positioning in robot indoor environment through infrared identification of pre-set passive tag information. Chapter 4th. In this paper, the application of PID control algorithm in the control system is introduced. The data transmission and control of the object recognition system of the home service robot and the data transmission and control of the motion navigation system are completed. Design and parameter debugging of software system with three functions of data transmission and control of manipulator system. Chapter 5th, according to actual working environment and related requirements. At the same time, the specific parameters of the service robot are tested. In chapter 6th, the full text is summarized, and the future work is prospected.
【学位授予单位】：浙江大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TP242

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