一种移动式双臂作业型服务机器人平台的研制

his paper firstly introduces the main design idea of a novel movable service robot platform. The robot has some characteristics, for example structure simple, low-cost，double working arms. In addition, the robot’s double working arms have different configuration structure. With the double working arm’s coordinated control, the robot can realize the object’s tracking, fetching, stable transferring etc. Furthermore, the key technology points about the robot are presented and analyzed. Such as binocular visual positioning equipment, movable platform, control scheme and path planning etc. All these works provided the significant experimental theory for the further study of the concept-accompany robot, which has the humanlike characteristic and the ability to do ordinary homework.