基于体感机械臂的舒适控制算法设计研究

Design and research for comfort control algorithm based on somatosensory robotic arm

分析人体手臂在体感控制中的舒适程度,依据疲劳度理论建立手臂舒适范围空间模型。采用体感方式控制机械臂运动,通过径向测试实验与点阵指定实验测试手臂的舒适参数,拟合控制映射函数,提出基于体感机械臂的舒适控制算法。通过动作跟踪与远程抓物实验,测得用舒适算法控制机械手的相对误差在5%以内,尖端位置绝对误差在2 mm以内,舒适度比传统控制算法提高51.8%,在满足体感控制准确度的基础上较大程度保证了使用者的舒适性,提高了体感控制效率。

By analysing the comfort situation of human arm in somatosensory control , based on fatigue theory, we put forward the somatosensory manipulator comfort control algorithms. Modeling for arm comfort zone , controlling robotic arm movement in somatosensory way, through the radial testing laboratories and dot point experiment for the comfort of the control arm movement parameter setting, we fit control the mapping function,and raise comfort control algorithms. By grasping motion tracking and remote objects experiment, the relative error of the measured comfort control algorithms in less than 5%, the absolute error of tip position （the end of mechanical mm） is less than 2 mm, improved the comfort of approximately 51.8% compared with conventional control algorithms , ensured the comfort of the user at the same time meeting the accuracy ,and improved the efficiency of somatosensory control.