Research And Implementation Of Modular Educational Robot

The rapid development of robotics has brought the liberation of the labor force to the entire industry,and has also created a strong market demand for robotics engineering and technical talents,making it urgent to cultivate robotics-related talents,However,robotics technology has complex engineering characteristics,which makes it difficult to conduct related education and research.For the teaching and research of robotics,educational robots are one of the most effective auxiliary platforms.There are many productized educational robot solutions on the market,but still have some limitations,the main limitation is that they can not cover the theoretical and practical knowledge of the whole process from robot hardware design to software,algorithm and application development.The purpose of this paper is to research and implement an educational robot product.The thesis designed and implemented a modular robot,including software and hardware platform,for the use of education and scientific research.Based on the platform,this thesis studies and optimizes the autonomous motion planning algorithm of educational robots in a dynamic educational environment,Finally,based on the software and hardware platform,developed a set of theoretical and practical curriculum programs specifically for robotics professional education.The main work of the paper is as follows:（1）Research and implement the robot hardware system.Most of the existing educational robots are of non-removable hardware design,simple structure and simple appearance,which are not conducive to mechanical knowledge teaching and secondary development.This thessis proposes a modularized educational robot hardware design scheme.The robot hardware system is divided into chassis module,sensor module and electrical and control system module,which are designed and implemented respectively,and a third-party industrial design is introduced to transform the appearance into products.The realized robot hardware system has good performance and modular expansion ability.（2）Research and implement robot software system.The existing educational robot software system are highly integrated,strong coupling and not open source,which is not conducive to robot software development and learning.In this paper,the general form of robot software architecture is studied,and a hierarchical and modular educational robot software framework is proposed based on this.The robot software is divided into system layer,algorithm and control layer,application and interaction layer.The basic submodules of each layer are implemented by code based on ROS framework.Experiments show that the implemented software system has good module independence,scalability and portability,and can be easily applied to robot software development and teaching.（3）Research and optimize the autonomous motion planning of robots in dynamic educational environments.The existing educational robot navigation lacks the processing of human factors in the dynamic environment,so that the movement behavior when facing humans is not natural and smooth.In this thesis,two-dimensional lidar is used to identify and track human beings,estimate their motion pose and integrate pedestrian prediction information into the robot motion planning algorithm,so that the robot can run more naturally and smoothly in a dynamic educational environment; the jump point algorithm is used to improve the traditional A* algorithm for path planning,which improves the re-planning efficiency of the robot when it encounters global path failure.（4）Design and develop educational courses based on robotic platforms.There are many problems in the existing robot education courses: the separation of theory and practice,the lack of experimental cases that match the actual robot,and the disconnection between the course content and the actual production.Based on the self-developed robot software and hardware platform,this thesis proposes a set of modular robot development practice courses.The courses cover robot hardware,robot motion control,ROS operating system,robot motion planning,robot navigation and other full-stack theory and technology implementation of robot development; task-oriented hands-on lessons are designed based on robotic hardware and software modules.The design of supporting educational courses and experiments endows the educational robot realized in this thesis with better educational functional attributes and product competitiveness.