餐厅服务机器人基于餐盘调平的运动规划
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摘要
本文提出一种用于餐厅传餐的服务机器人机构模型,并在相关设计参数基础上,给出了机器人运动学方程。在求取运动学方程正解的基础上,绘制了传餐机器人以餐盘水平为前提的工作空间图。在传餐机器人运动方程逆解求取的基础上,以餐盘调平为前提,在关节空间,对传餐机器人进行了运动轨迹规划。通过仿真验证,所用的运动规划方法,可以实现餐盘平稳运动。
In this paper, a service robot mechanism model for restaurants is presented, and the kinematics equation of the robot is given under the relevant design parameters. Based on obtaining the positive solution of the kinematic equation, on the condition that the level of the dinner plate, the working space of the dining robot is given. Based on the inverse solution of the kinematic equation of the service robot, the trajectory planning of the robot is carried out in the joint space on the premise of the plate leveling. Simulation results show that the motion planning method can achieve stable movement of plates.
In this paper, a service robot mechanism model for restaurants is presented, and the kinematics equation of the robot is given under the relevant design parameters. Based on obtaining the positive solution of the kinematic equation, on the condition that the level of the dinner plate, the working space of the dining robot is given. Based on the inverse solution of the kinematic equation of the service robot, the trajectory planning of the robot is carried out in the joint space on the premise of the plate leveling. Simulation results show that the motion planning method can achieve stable movement of plates.
引文
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[2]Y.NAKAUCHI,T.FUKUDA,et al.Intelligent kitchen:cooking support by LCD and mobile robot with IC-labeled objects[C].IEEE Intelligent International Conference on Robots and Systems(IROS2005).Edmonton,Canada,2005:1911-1916.
[3]F.GRAVOT,A.HANEDA,K.IKADA,et al.Cooking for humanoid robot,a task that needs symbolic and geometric reasonings[C].IEEE ICRA 2006.Orlando United States:Institute of electrical and electronics engineers Inc,2006:462-467.
[4]S.COMBON,F.GRAVOT,R.Alami.A robot task planner that merges symbolic and geometric reasoning[C].ECAI 2004.Valencia Spain:IOS Press,2004:895-899.
[5]F.GRAVPT,S.COMBON,R.ALAMI.a Sy Mov:Aplanner that deals with intricate symbolic and geometric problems[C].ISRR 2003.Siena Italy:11th international symposium of robotics research,2003:100-110.
[6]闫维新.多功能中式菜肴自动烹饪机器人研究[博士论文].上海:上海交通大学.2010.
[7]NATTHARITH P,ZEL M S G.Machine vision and fuzzy logic-based navigation control of a goal-oriented mobile robot[J].Adaptive Behavior,2016,24(3):168-180.