摘要
针对家庭服务机器人开发成本高、系统灵活性差等问题,设计了一种基于双控制器的机器人实验系统。主控制器基于机器人操作系统(ROS)实现机器人的即时定位与地图构建(SLAM)、路径规划与导航、语音识别等功能;从控制器基于FreeRTOS接收主控制器的命令实现对底盘、升降式机械臂以及机械手的实时控制。完成了系统总体设计以及软硬件设计,进行了相关功能验证。实验结果表明,设计的家庭服务机器人具有可靠性高、灵活性好、低成本等优点。
Aiming at the problems of high development cost and poor system flexibility of home service robot,a robot experiment system based on dual controllers is designed.The main controller is based on the robot operating system(ROS)to realize the robot’s real-time positioning and map building(SLAM),path planning and navigation,speech recognition and other functions.The slave controller based on FreeRTOS receives the commands from the main controller to realize the real-time control of the chassis,manipulator and manipulator.The overall design of the system and the design of software and hardware are given.The function of the system is verified and won the first prize in the home service robot project of 2019 China robot competition.The experimental results show that the designed home service robot system has the advantages of high reliability,good flexibility and low cost.
作者
刘小军
温宏愿
周军
何伟基
崔宇豪
LIU Xiaojun;WEN Hongyuan;ZHOU Jun;HE Weiji;CUI Yuhao(School of Intelligent Manufacturing,Taizhou Institute of Sci.&TECH.,Nanjing University of Science&Technology,Taizhou 225300,Jiangsu,China;School of Electronic Engineering and Optoelectronic Technology,National University of Science&Technology,Nanjing 210094,China)
出处
《实验室研究与探索》
CAS
北大核心
2021年第3期75-80,共6页
Research and Exploration In Laboratory
基金
国家自然科学基金面上项目(61875088)
江苏省“六大人才高峰”资助项目(XYDXX-257)
江苏省高校“青蓝工程”人才项目(苏教师函[2020]10号)
泰州市科技支撑计划(社会发展)项目(TS201919)
江苏省高等教育教改研究项目(2019JSJG539)。
