摘要
针对传统工业机器人采用的封闭式结构的局限性,在W indows CE.NET系统基础上,通过剪裁定制,去除冗余的功能,搭建嵌入式智能机器人平台.该智能机器人系统具有移动机器人需要的主要感知模块,并有丰富的运动控制接口及驱动模块.同时,设计了多传感器数据融合、轨迹规划、运动控制、无线网络通信、图形人机界面等智能机器人的测试软件和应用模块.该智能机器人平台具有模块化、易扩展、可移植、可定制、硬件体积小、功耗低、实时性强、可靠性高等优点.
To overcome the limitations of the special architectures adopted by traditional industrial robots, an embedded intelligent robot platform based on Windows CE. NET is established by enstomizing the system and cutting out the redundant functions. The intelligent robot platform has the main sensors needed by the mobile robot, and has abundant movement oontrol interfaces and driver modules. Besides, various test software and application modules for the intelligent robot are designed, such as multi-sensor data fusion, path planning, motion control, wireless network communication and graphic human-robot interface. The platform is modularized, extensible, transplantable and eustomizable. And it also has the advantages such as compact hardware, low-power, good real-time performance and high reliability.
出处
《机器人》
EI
CSCD
北大核心
2006年第1期54-58,共5页
Robot
基金
国家自然科学基金资助项目(60475036)
