一种视觉引导助老服务机器人的总体设计*

作者：胡志军，戴敏，张磊，郑建勇，陆光，张志胜 日期：2009-04-21/span> 浏览：3192 查看PDF文档

一种视觉引导助老服务机器人的总体设计*

胡志军，戴敏，张磊，郑建勇，陆光，张志胜
（东南大学 机械工程学院，江苏 南京 211189）

摘要：为辅助老年人的日常生活，采用视觉导航方式，完成了基于ARM7和数字信号处理器（DSP）双处理器的嵌入式控制系统的硬件设计，开发了一种在室内一定的结构化环境中可实现“到达并抓取”功能的助老机器人-“服务1号”。该机器人结构新颖，采用轮式移动方式，具有两种构型相异的多自由度机械手臂，实现了在一定结构化环境中避障行走、双臂协调作业，完成了“到达并抓取”的任务。实验结果表明,该研究为进一步研究视觉伺服算法奠定了基础。
关键词：助老机器人；视觉；ARM；双臂作业；数字信号处理器
中图分类号：TP242文献标识码：A文章编号：1001-4551(2009)04-0001-04

Overall design of a visionguided robot for elderly people
HU Zhijun, DAI Min, ZHANG Lei, ZHENG Jianyong, LU Guang, ZHANG Zhisheng
(College of Mechanical Engineering, Southeast University, Nanjing 211189, China)
Abstract: Aiming at presenting assistant to elderly people in daily life, using vision navigation system, the hardware based on ARM and digital signal processor (DSP) dual embedded microprocessor was designed. A service robot called “Service No.1” which can realize reaching and grasping known everyday objects in home structured environment was developed. Moving on wheels, using new structure with two different arms of multidegreeoffreedom, the robot which travels autonomously and quickly can complete arriving and operating daily objects in coordination, while avoiding obstacles in structure environment. The experiment result shows that the research lays the foundation of the study of the vision servo robot.
Key words: elderly people assistance; vision; ARM; dualarm operation; digital signal processor (DSP)

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