狗獾前肢挖掘洞穴运动图像采集

Hole Digging Kinematic Image Acquisition of Badger′s Forelimb Digging Hole

狗獾善于打洞,挖洞速度极快,研究狗獾挖掘时的运动特性,为研制挖掘机器人在自主挖掘中遇到困难时提供理论依据,使其具有更高的自主适应性,提高其速度和精度。本研究在时间域和空间域内分析狗獾挖洞时的运动特性,为狗獾佩戴红外光点测量系统,进行运动学数据捕捉试验,提供受力分析运动轨迹。利用HALCON采集系统采集红外光点的运动数据,对数据进行运算与处理,从而获得狗獾关节处的相关运动学参数。

Badger is good at hole digging with high speed. The research of badger kinematic characteris- tics, provides a theoretical basis for the development of the digging robot for independent digging when facing difficulties, makes it a higher independent adaptability, improves the speed and accuracy. The ar- ticle analyses badger kinematics characteristics based on the time domain and space domain. Worn in- frared light point measurement system, may have kinematic data capture experiment, provides force analy- sis trajectory. Through the HALCON acquisition system for infrared light spot acquisition, operation and processing, the joint＇s kinematics data and curve parameters were obtained.