Service robot controller and control method thereof
A service robot and controller technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve weak real-time task planning and strong real-time motion control coupling, hardware and software architecture is not clear enough, inconvenient functions Expansion development, etc.
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[0045] The present invention is described in detail below in conjunction with accompanying drawing:
[0046] The main key technologies of service robots include: environmental perception and signal processing, real-time planning of complex tasks and services, open controller architecture, mechanical body structure adapted to the working environment, and friendly interactive human-robot interface.
[0047] like figure 1 As shown, regarding the robot controller architecture of the present invention: the controller adopts an open two-level layered architecture, and the task planning layer accepts tasks through the human-robot interface, performs task-action sequence planning, and performs tasks according to vision, hearing, proximity, etc. The motion sequence is adjusted based on the sensory information; the motion control layer performs corresponding motion control according to the motion trajectory planned by the task planning layer, and adjusts the control process in real time...
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Abstract
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