Voice control dual arm robot based on ROS system

摘要

To control dual arm robot made by ourselves using voice based on ROS, voice recognition is realized by node includes the bag named speech command recognition made by iFLYTEK. The robot entity model is built in SolidWorks and written to URDF file as STL format. The robot motion control file is configured through Moveit!. The communication between ROS and STM32 which used to control solid robot is completed by using serial port and the joint motion angle of the command is sent to STM32 from Moveit through Arbotix simulation driver. The feasibility of the voice control system is verified by voice experiment.