基于xPC的助餐机器人实时控制系统研究

关键词：助餐机器人  xPC目标  快速原型  模块化

Keywords:meal-assistance robot  xPC target  rapid prototyping  modularization

摘要：

      摘要 目的：研制一种将Simulink控制程序和助餐机器人目标机无缝链接、下载的方法，实现机器人的实时控制，实时满足不同伤残患者的助餐要求。 方法：在Matlab/x PC实时目标环境的基础上，开发了助餐机器人的硬件接口模块和上位机软件模块，设计了助餐机器人模块化控制平台及基于脚踏开关、语音识别和图像识别的三种人机交互方式。 结果：实现了机械手3个关节控制器、运动学计算、路径规划控制算法，实现了机器人控制程序从Matlab/x PC到机器人嵌入式控制器的实时无缝链接与下载，并完成了基于图像识别的人机交互控制实验。整套设计取得了满意的效果，为进一步实用化奠定了基础。 结论：实现了助餐机器人模块化控制平台，实现了快速原型设计、硬件在回路仿真与原理样机的结合。

Abstract:

      Abstract Objective: To develop a method which can make seamless link and downloading between Simulink control program and meal-assistance robot target machine, and to achieve the robot real-time control to meet different feeding requirements for different disabled patients. Method: Based on Matlab / xPC real-time target environment , the hardware interface module and the host computer software modules were developed. Also, modular control platform and three human-computer interaction modes of foot trampling recognition, voice recognition and image recognition were designed. Result: The control algorithm of three joint controllers, kinematics calculation and trajectory planning were achieved，and seamless link and downloading of control program between the Matlab/xPC and robot embedded controllers were developed. Furthermore, human-computer interaction control experiment based image recognition was performed. The whole design led to a satisfactory result and lay a basis for further application of the robot. Conclusion: The modular control platform, rapid prototyping design, hardware in loop simulation and combining of prototyping were finished.