移动式护理机器人的控制系统

The control system of a mobile health care robot

介绍自行研制的移动式护理机器人控制系统的功能和结构、开发过程中所面临的主要问题以及安全保护措施。所研制的机器人的控制系统具有高水平命令编译、机器人运动规划及环境设备控制功能。用户发出的任务指令由机器人的高水平集成控制系统分解为一系列低层的机器人部件控制命令或电器设备操作指令。

The functions and structures of the control system of a mobile health care robot was developed at Tsinghua University.The confronted problems during the development of this kind robot was introduced.The control system of the mobile health care robot was capable of high- level commands compiling and interpreting,robot motion planning and environment equipment control. The high-level integrated control system of the robot will compile and interpret the user tasks instructions into a series of approriate low level robot components commands or electrical apparatus operations.The signals were then sent to related controllers to excute.In addition,the safety of the mobile health care robot was also described in the paper.Author’s address:Tsinghua University,Beijng,100084