基于ROS的服务型机器人新型控制方式.pdfVIP

ELECTRONICS WORLD 探 索与观察 ・ 基于ROS的服务型机器人新型控制方式 大连理工大学控制科学与工程学院 郭欣桐 广西大学机械工程学院物流工程实验室 战 艺 【摘要】 传统的服务机器人控制方式通常采用键盘等操控，再通过视频监控进行反馈的控制方式，该方式具有操作繁琐、高延迟、缺乏临场 感等缺点。为了改善这些缺点，提出一种基于ROS机器人操作系统的服务机器人新型控制方式，以ROS为基础，在语音控制的基础上通过 深度摄像头实现跟随物体。实验结果表明，该种控制方式可以高效完成指定任务，具有操作简单、延迟低、临场感强等优点，改善了传统机 器人操控繁琐的缺点，为服务行业、物流领域等诸多方向提供了一种新型的解决方案，提高了人的工作效率。 【关键词】 机器人操作系统；服务机器人；语音控制；机器人视觉；机器人跟随 A new control mode of service robot using robot operating system 1 2 GUO Xin-tong zhanyi （1.School of control science and Engineering，Dalian University of Technology Dalian 116024 ，China ；2.Logistics Engineering Laboratory ， School of mechanical engineering，Guangxi University，Nanning ，Guangxi 530004 ） Abstract ：The control methods of traditional service robot usually by using keyboard or other controllers ，and feedback to people through video surveillance，which has the disadvantages of complex operation ，high-delay ，lack of presence and so on.In order to improve the disadvantages ，a new control method for the service robot based on the robot operating system was designed.This system on the basis of the voice control and following the object through the depth camera.The experimental results indicate that this control mode can finish assigned tasks efficiency.It has the advantages of simple operation，low latency and telepresence.It improves the traditional robot the shortcoming of tedious manipulation and provides a modern solution for service industry，logistics，etc.，and improving peoples working efficiency. Key words ：robot operating system ；service robot；sp