机器人感知系统标准化与模块化设计-模式识别与智能系统专业论文.docx

Abstract——-__—-————-—●—-_^_-_’—-_—_—__—_—_-_-_——-__-----●———●_——一- Abstract ——-__—-————-—●—-_^_-_’—-_—_—__—_—_-_-_——-__-----●———●_——一- ABSTRACT Technology never stands still．Nowadays robot has been the mainstream of technology industry．强e demand for digital integration is growing rapidly；also the robot perception system is gett吨more and more complex and involving more and more interfaces．Respecting all these facts，the requirements for t11e system’S openness and interoperability are getting higher and higher．Actually，no existent and unified design model is one of the most constraining factors for也e development of our country’S robot industry,and designing for a modular and standardized robot perception system becomes very urgent and necessary．Based on the principle of modular design，a model of robot perception system with modular features has been built and introduced in this paper．By applying this modular model to a foot perception system，it showed a good performance，and with advantages of reusable， easy to operate and ere．Thjs paper call mainly be divided into the following parts： 1、 Build a model of robot perception system，which has modular design concept and separable framework．The modules of the model ale reusable and replaceable； 2、Design a software module for tlle robot perception system，which has high flexibility and Can be updated to cope with rapid updating 0f hardware issues．The software module includes data description of sensors，data description of system nodes，protocol speei丘cation，and the definition of the user interface functions； 3、 Apply the modular model successfully to a foot perception system．The foot perception system iS designed based on DSP hardware platfom，which give the standard data description for the system’S six-axis force sensors，gyroscopes and system nodes．The system has a unifo咖protocol and provides a standardized user interface functions．Under the development of LabVlEW，control interface has been designed and through which，edit，read