The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

Summary

We present a protocol on modular design and production of intelligent robots to help scientific and technical workers design intelligent robots with special production tasks based on personal needs and individualized design.

Abstract

Intelligent robots are part of a new generation of robots that are able to sense the surrounding environment, plan their own actions and eventually reach their targets. In recent years, reliance upon robots in both daily life and industry has increased. The protocol proposed in this paper describes the design and production of a handling robot with an intelligent search algorithm and an autonomous identification function.

First, the various working modules are mechanically assembled to complete the construction of the work platform and the installation of the robotic manipulator. Then, we design a closed-loop control system and a four-quadrant motor control strategy, with the aid of debugging software, as well as set steering gear identity (ID), baud rate and other working parameters to ensure that the robot achieves the desired dynamic performance and low energy consumption. Next, we debug the sensor to achieve multi-sensor fusion to accurately acquire environmental information. Finally, we implement the relevant algorithm, which can recognize the success of the robot's function for a given application.

The advantage of this approach is its reliability and flexibility, as the users can develop a variety of hardware construction programs and utilize the comprehensive debugger to implement an intelligent control strategy. This allows users to set personalized requirements based on their needs with high efficiency and robustness.

Introduction

Robots are complex, intelligent machines that combine knowledge of several disciplines, including mechanics, electronics, control, computers, sensors and artificial intelligence ^1,2. Increasingly, robots are assisting or even replacing humans in the workplace, especially in industrial production, due to the advantages robots possess in performing repetitive or dangerous tasks. The design of the intelligent robot protocol in the current study is based on a closed-loop control strategy, specifically path planning based on a genetic algorithm. Furthermore, the functional modules have been strictly divided

Protocol

1. Construction of the Machine

1. Assemble the chassis as illustrated, securing mechanical components using appropriate fasteners. (Figure 1)
   NOTE: The chassis, which comprises the baseboard, motor, wheels, etc., is the primary component of the robot responsible for its motion. Thus, during assembly, keep the bracket straight.
2. Tin the wire lead and both the positive and negative electrodes. Solder two wire leads onto the two ends of the motor, connecting the red lead to the positive electrode and the black lead to the negative electrode.
3. Assemble the shaft sleeve, the motors and the wheels.
   ....

Results

In the diagram of the double closed-loop motion control program, purple represents a given speed signal and yellow represents the value of the control system output. Figure 17 clearly shows that the double closed-loop control system is significantly more effective than an open-loop system. The actual overshoot of the output of the double closed-loop system is relatively small and the dynamic performance of the system is better. ( Figure 1.......

Discussion

In this paper, we designed a type of intelligent robot that can be built autonomously. We implemented the proposed intelligent search algorithm and autonomous recognition by integrating several software programs with hardware. In the protocol, we introduced basic approaches for configuring the hardware and debugging the intelligent robot, which may help users design a suitable mechanical structure of their own robot. However, during actual operation, it is necessary to pay attention to stability of the structure, its ope.......

Materials

List of materials used in this article

Name	Company	Catalog Number	Comments
structural parts	UPTECMONYH HAR	L1-1
structural parts	UPTECMONYH HAR	L2-1
structural parts	UPTECMONYH HAR	L3-1
structural parts	UPTECMONYH HAR	L4-1
structural parts	UPTECMONYH HAR	L5-1
structural parts	UPTECMONYH HAR	L5-2
structural parts	UPTECMONYH HAR	U3A
structural parts	UPTECMONYH HAR	U3B
structural parts	UPTECMONYH HAR	U3C
structural parts	UPTECMONYH HAR	U3F
structural parts	UPTECMONYH HAR	U3G
structural parts	UPTECMONYH HAR	U3H
structural parts	UPTECMONYH HAR	U3J
structural parts	UPTECMONYH HAR	I3
structural parts	UPTECMONYH HAR	I5
structural parts	UPTECMONYH HAR	I7
structural parts	UPTECMONYH HAR	CGJ
link component	UPTECMONYH HAR	LM1
link component	UPTECMONYH HAR	LM2
link component	UPTECMONYH HAR	LM3
link component	UPTECMONYH HAR	LM4
link component	UPTECMONYH HAR	LX1
link component	UPTECMONYH HAR	LX2
link component	UPTECMONYH HAR	LX3
link component	UPTECMONYH HAR	LX4
Steering gear structure component	UPTECMONYH HAR	KD
Steering gear structure component	UPTECMONYH HAR	DP
Infrared sensor	UPTECMONYH HAR	E18-B0	Digital sensor
Infrared Range Finder	SHARP	GP2D12
Gray level sensor	SHARP	GP2Y0A02YK0F
proMOTION CDS	SHARP	CDS 5516	The robot steering gear
motor drive module	Risym	HG7881
solder wire	ELECALL	63A
terminal	Bright wire	5264
motor	BX motor	60JX
camera	Logitech	C270
Drilling machine	XIN XIANG	16MM	Please be careful
Soldering station	YIHUA	8786D	Be careful to be burn
screwdriver	EXPLOIT	043003
Tweezers	R`DEER	RST-12