Design And Research Of Flexible CIGS Thin Film Solar Cell Manipulator Robot

This paper mainly aims at the tasks that the operators in the factory need to complete,and designs the operator robot.In the ROS robot operating system environment,the robot can realize the drawing,positioning,navigation and other functions of the mobile chassis of the robot,realize the visual grasping function of the robot arm,and can complete the tasks of autonomous moving and grasping and the handling of objects in the factory.CIGS thin film solar cells are used as a power source for the factory,which consumes less energy.Aiming at the mobile grasping function of the manipulator robot,the mobile platform of the manipulator robot is designed,and the kinematic analysis of the mobile platform is carried out in detail,and the principle and application of the mapping algorithm and path planning algorithm of the mobile platform of the manipulator robot are described.In order to reduce the consumption of computing resources,A* algorithm was improved,and A* combined with DWA algorithm was applied to the manipulator robot.In the Gazebo environment,the robot mapping algorithm and navigation algorithm were simulated.The kinematics of a 6-DOF manipulator is studied.For the kinematic analysis of the manipulator,in order to let the end-effector of the manipulator obtain the position and attitude of the target,the camera calibration and hand-eye calibration of the manipulator were analyzed.Finally,the grasping algorithm of the manipulator robot is simulated in Gazebo environment.The kinematics of a six degree of freedom manipulator is studied.The kinematics analysis of the manipulator is carried out,and the camera calibration and hand-eye calibration of the manipulator are analyzed.Finally,the grasping algorithm of manipulator robot is simulated in Gazebo environment.Based on the above research theories and simulation results,Gmapping algorithm was used to build the map of the actual environment.A* algorithm was selected as the global path planning algorithm and DWA algorithm as the local path planning algorithm.The combination of the two algorithms was used as the path planning algorithm of the factory manipulator robot to achieve accurate obstacle avoidance and navigation functions of the manipulator robot.Finally,by combining the manipulator with the mobile platform,the manipulator robot system executes in accordance with the predetermined task flow in the real environment,and completes the task of autonomous moving and grasping.