基于自主移动抓取机器人的多功能实验教学平台设计  

Design of experimental teaching platform based on multifunctional autonomous mobile grasping robots

作　　者：孙明晓 王潇 胡军 栾添添 刘鹏飞[1,3] SUN Mingxiao;WANG Xiao;HU Jun;LUAN Tiantian;LIU Pengfei(School of Automation,Harbin University of Science and Technology,Harbin 150080,China;Heilongjiang Provincial Key Laboratory of Complex Intelligent System and Integration,Harbin 150080,China;Hefei HRG Tonan Intelligent Control Robot Co.Ltd.,Hefei 230000,China)

机构地区：[1]哈尔滨理工大学自动化学院,黑龙江哈尔滨150080 [2]黑龙江省复杂智能系统与集成重点实验室,黑龙江哈尔滨150080 [3]合肥哈工图南智控机器人有限公司,安徽合肥230000

出　　处：《实验技术与管理》2024年第4期140-146,共7页Experimental Technology and Management

基　　金：黑龙江省高等教育教学改革工程项目(SJGY20210391);教育部产学合作协同育人-新工科建设项目(202102658003,202102019001)。

摘　　要：为了满足新工科专业建设对机器人工程人才培养中实验教学的实际需求,该文设计了一种自主移动抓取机器人的多功能实验教学平台。平台由装配激光雷达的机器人运动底盘、末端装配深度相机及柔性夹爪的六轴伺服机械臂组成,集成了基于粒子滤波的Gmapping算法场景建图、A*算法+TEB(time elastic band)算法的路径规划和自主导航、基于Aruco_detect算法的视觉识别与抓取功能,实现了基于机器人操作系统(ROS)的仿真场景搭建、数据仿真等。基于该平台,学生可掌握ROS、定位与建图、自主导航、物体识别与抓取等前沿技术,通过仿真与实物相结合的教学方式,学生可深入理解机器人的实际运行机制,掌握机器人系统的开发方式,提升学习效果和应用能力。[Objective]In an effort to meet the growing demand for hands-on experience in the training of robotics engineering talents,we have developed a multifunctional teaching platform featuring an autonomous mobile grasping robot.This platform introduces novel approaches and solutions for practical experiments,catering to courses in robotics engineering,artificial intelligence,and other emerging disciplines.[Methods]Central to the platform are two main components:a wheeled robot motion chassis equipped with lidar and a six-axis servo manipulator fitted with a depth camera and flexible grippers.The wheeled chassis provides exceptional mobility and stability,enabling precise navigation in diverse environments.The vision-guided mechanical arm allows the robot to identify,locate,and grasp objects.Integrating the autonomous motion chassis with the mechanical arm results in a system that accomplishes mapping and autonomous navigation,thereby expanding the working space of the mechanical arm.This enhances the functionality of the robot and widens its range of applications.The platform incorporates several key features,such as scene mapping using the Gmapping algorithm,which is based on particle filtering.This allows for precise map construction in complex environments.We have also integrated the A*algorithm and the TEB algorithm for path planning and navigation,enabling precise map construction in complex environments.The object recognition system,based on the Aruco_detect algorithm,rapidly and accurately identifies target objects,laying the foundation for subsequent grasping operations.To facilitate understanding and operation by students by students,the experimental platform provides two control modes:master-slave control and mobile web control via smartphones.Through the master-slave mode,students can control the mobile robot and experience its robust capabilities first-hand.Simultaneously,they can control the robot and observe mapping and navigation effects through the mobile web interface,gaining a more intuitive understa

关 键 词：机器人实验平台 机器人操作系统 同时定位与建图技术 自主导航 视觉抓取 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]