期刊论文

中文

计算机应用

1001-9081

2020

40

S01

284-288

10.11772/j.issn.1001-9081.2019122208

国家社会科学基金资助项目(17BYY111) 大学生创新创业训练计划项目(105112019010019)。

本校为第一机构

针对近年来机器人模仿类似人类笔迹的纸笔书写面临的反应速度慢、精度低及交互繁琐的问题,提出并实现了由4个舵机驱动的四自由度机械臂关节结构,设计了根据书写笔画通过自学习完成的包括舵机编号、角度、动作运行时间等信息构成的动作代码,实现了机械臂书写的毫米级稳定控制。在此基础上,设计实现了一套基于语音控制的智能书写机器人系统,即通过语音控制小型机械臂完成文字书写。该系统采用树莓派3B为主控与32路伺服舵机控制板相结合构成控制平台,实现了语音识别、发音比对纠错、语音文本转换、即时语音书写、书写字体切换、书写精度控制等模块和功能,系统中精密细小部件利用3DSMAX绘图3D打印制...

Concerning the problems of slow response,low accuracy,and tedious interaction when robots mimick paper writing similar to human handwriting in recent years,a four-degree-of-freedom robotic arm joint structure driven by 4 servos was proposed and a code including information such as the servo number,angle and motion running time was realized which can control the robot arm in millimeter-level stability.An intelligent writing robot system with speech control was designed and implemented,and a small robotic arm was designed to complete the writing.A Raspberry Pi 3B and a servo control board were c...