中文摘要：

通过对餐厅服务机器人控制系统需求进行分析，提出了以微控制器MSP430F5438为核心的餐厅服务机器人控制系统总体设计方案；该方案采用模块化方法完成了控制系统硬件电路设计，主要包括：主控模块、电源及管理模块、运动控制模块、无线通信模块、导航定位模块、安全避障模块和人机交互模块等；介绍了控制系统软件的总体流程，完成了控制系统嵌入式软件的设计；实验结果表明，所设计的控制系统应用于餐厅服务机器人可以实现送餐的功能，控制效果良好，实用性强，具有显著的推广应用价值。

英文摘要：

Through the analysis of demand about the restaurant service robot control system, an overall design scheme of the restaurant service robot control system with MCU MSP430F5438 as the core is proposed. The control system hardware circuit is designed by a modular design method, mainly including the main control module, power supply and management module, motor control module, wireless network communication module, navigation module, safe obstacle avoidance module and human-computer interaction module. The overall flow of the control system software is introduced and the embedded software of the control system are designed. Experiment results show that the designed control system applied to the restaurant service robot can achieve the function of meal delivery service and has good control effect, strong practicability and significant application value.