Abstract: In order to solve the problem that elderly or patients in bed are unattended and improve their self-care ability, a synchronous robot arm with autonomous path planning is proposed. The user specifies the moving robotic arm to reach the destination through a mobile phone APP, and then guides the robot arm to perform the body arm behavior synchronously through a synchronization device on the arm such as object grasp. The system adopts RFID location systems with dense passive tags to arrange a 4*4m² RFID tag array indoors, and paths planning based on fuzzy logic. Experimental results show that the system is capable of helping a user to grasp ninety present of objects in daily life.

Key words: Autonomous path planning, fuzzy logic control, synchronous robotic arm, RFID location

摘要： 为了解决卧床老人或者病人无人照顾，并且提高其生活自理能力的问题，提出一种具有自主路径规划的同步机械臂的研究与实现。使用者通过手机APP指定移动机械臂到达目的地后，通过手臂上的同步装置指导机械臂同步执行本体手臂行为，进行物体的抓取工作。采用密集无源RFID标签定位方法在室内布置4*4 m²的RFID标签阵列，基于模糊逻辑控制进行路径规划，实验结果表明本系统可以帮助使用者完成生活中90 %的抓取工作。

关键词: 自主路径规划, 模糊逻辑控制, 同步机械臂, RFID定位