Autonomous Task Planning And Control System Of Dual-arm Domestic Intelligent Robot

With the rapid development of science and technology and society,the pace of people’s work and life has become faster.On the one hand,the pressure of work increases,on the other hand,the demand for quality of life is getting higher and higher,and robots are urgently needed to help people take care of housework and relieve life pressure.At present,many scholars and companies at home and abroad have carried out research on the theory and technology of home service robots and the research and development of a variety of home service robots,and have been practically applied,but these home service robots generally have problems such as single function,weak operation adaptability,high cost,and difficult to promote and apply.Aiming at the characteristics of housework in Chinese-style families,this paper proposes a set of adaptive intelligent housekeeping robot system solutions that can meet various housework requirements and low cost,gives the architecture and composition of the adaptive intelligent housekeeping robot system,and expounds the corresponding system functions and working principles.The housework planning method was studied,and the implementation principle of housework planning and action control was introduced by taking the living room table and chair finishing operation as an example.The mapping and positioning of indoor navigation and the algorithm of autonomous movement were studied.Developed an intelligent housekeeping robot control system based on ROS.The main research work and results are summarized as follows:Firstly,according to the home operation of the housekeeping robot,the typical operation task-picking up debris is analyzed in the process,and the functional requirements and overall scheme of the intelligent dual-arm domestic intelligent robot are selected,and on this basis,the overall structure of the robot and the main structure selection of the dual-arm and wheeled mobile chassis are completed,and the corresponding manipulator kinematics theory is derived according to the relevant mathematical knowledge of robotics,which provides a theoretical basis for subsequent precise control research.Secondly,aiming at the autonomous operation planning problem of dual-arm domestic intelligent robot,it is divided into three aspects: task planning,robotic arm trajectory planning and robotic arm coordinated control.Based on the task planning idea of HTN,the job task is decomposed layer by layer into a single action sequence that the robot can achieve;Then,according to the trajectory planning of the manipulator and the knowledge of adaptive impedance control,the action instructions are executed,and the improved adaptive step RRT*-Connect algorithm is used to plan the obstacle avoidance trajectory of the manipulator,and then the trajectory is optimized by the three-five-third polynomial interpolation;Adaptive impedance control is used to complete the coordinated control of the robotic arm.Again,the indoor navigation of housekeeping robots is emphasized.The principles of Gmapping and Cartographer were analyzed,and the Cartography algorithm was selected to construct a map suitable for path planning through mapping comparison experiments.Finally,the dynamic measurement A* algorithm after corner optimization is used for global path planning,and the five-degree polynomial interpolation method is used for local obstacle avoidance path planning,and the feasibility is verified by simulation experiments.Finally,the intelligent dual-arm domestic intelligent robot control system is designed.The above operation planning and navigation mapping algorithm are integrated,combined with the technical index requirements,the overall design scheme of dual-arm domestic intelligent robot control system is proposed,on this basis,the core components of the system are selected,and ROS is used as the software development platform of the operating system to study and design the control programs of each software level.