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The Development of Control System for a Domestic Partner Robot

Author: XuXiaoLiang
Tutor: LiRuiFeng
School: Harbin Institute of Technology
Course: Mechanical and Electronic Engineering
Keywords: domestic partner robot control system parking radar autonomous obstacle avoidance fuzzy control
CLC: TP242.6
Type: Master's thesis
Year: 2011
Downloads: 49
Quote: 0
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As a kind of service robot, domestic robot has broad market prospects. As the research digging in, more and more robots have come into families to provide service for people. Domestic partner robot which has come out in recent years is a new kind of domestic service robot. As family s friendly partner , he has entertainment, security, education, nursing and other functions. It is the focus of the study to develop domestic partner robot with lower cost, higher reliability and higher intelligent level.Based on the design requirements of domestic partner robot, firstly we design the whole control system and devide it into the following several modules: human machine interface module, speech recognition module wireless network control module, motor drive module, location and distance measuring module, temperature and humidity detection module, wireless remote control module and power module. In this paper, we choose a cost-effective tablet PC as the upper computer of this system, and choose ATmega128 as the lower computer. Both of them communicate by using serial. In this paper, we complete the development of power module, motor drive module, location and distance measuring module, temperature and humidity detection module, wireless remote control module and serial communication module, including plan,hardware and software design of each module. Finally, we complete the building of control system platform for the partner robot.Based on the platform, we achieve the local obstacle avoidance In the domestic environment. This paper develops the cost-effective obstacle avoiding sensor unit by using parking ultrasonic sensors and infrared sensors. Based on the information of sensors, we build robot obstacle avoidance system by using fuzzy control theory. Also, we analyze and verify this system by using matlab fuzzy toolbox. Finally,we program with C language to complete the design of the software, and achieve robot obstacle avoidance.In the end, we accomplish robot experimental platform and finish some related experiments, Including sensor data received experiment, serial communication experiment, obstacle avoidance experiment in the roam mode, wireless remote experiment. At last, we prove the feasibility of this control system for domestic service robot and reflect the low cost, high reliability, real time, feature-rich advantages

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot > Intelligent robots
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