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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Integration of Hardware and Software Designs for Object Grasping and Transportation by a Mobile Robot With Navigation Guidance Via a Unique Bearing-Alignment Mechanism
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Integration of Hardware and Software Designs for Object Grasping and Transportation by a Mobile Robot With Navigation Guidance Via a Unique Bearing-Alignment Mechanism

机译：借助独特的轴承对准机制，通过导航引导的移动机器人进行对象抓取和运输的硬件和软件设计的集成

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In this paper, we consider the systematic design and implementation of grasping and transportation by a mobile robot with low implementation complexity. The study is mainly divided into three aspects: 1) design of a mechanical gripper and an arm mounted on the robot for grasping; 2) design of the (HCC) for transportation guidance that includes a destination beacon and a sensor system on the robot that working together with some designed event-triggered communication mechanisms, among which the unique bearing-alignment mechanism is designed to calibrate the heading direction of the robot, the HCC is low cost in the sense of low energy consumption; and 3) an effective and low-cost heuristic transportation algorithm that is tightly incorporated with the designed HCC in an event-triggered manner. The particular contribution is the tight integration of the heuristic transportation algorithm and the HCC, and the very simple nature of the transportation algorithm dues to this integration, which passes some computational functions to the HCC. Numerical simulations and experiments are presented, showing the effectiveness of the proposed system.
机译：在本文中，我们考虑了实现复杂度较低的移动机器人抓取和运输的系统设计和实现。这项研究主要分为三个方面：1）机械抓手和安装在机器人上用于抓取的手臂的设计； 2）运输指导（HCC）的设计，包括目的地信标和机器人上的传感器系统，它们与某些设计的事件触发通信机制一起工作，其中独特的方位对准机制旨在校准航向就机器人而言，从低能耗的角度来看，HCC成本低廉； 3）一种有效且低成本的启发式运输算法，该算法以事件触发的方式与设计的HCC紧密结合。特别的贡献是启发式运输算法和HCC的紧密集成，以及运输算法的非常简单的性质归因于这种集成，这将一些计算功能传递给了HCC。数值仿真和实验表明，该系统的有效性。

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