体感交互式拟人手臂机器人

Humanoid Robot Arm of Somatosensory Interaction

针对目前人体动作同步机器人造价高,使用过程繁琐,需要穿戴多种传感器设备等缺点,设计并研制了一种不需要穿戴传感器的人体手臂动作同步机器人。介绍了机器人的结构和系统组成,给出了Kinect读取和共享数据以及转换为机械臂可用数据的方法,设计PID结合PWM脉宽调速的控制驱动模块,完成了机械臂控制系统的软件。结果表明该人体动作同步机器人在未经培训的操作者指挥下,能够从不同初始位置完成人类肢体动作发出的指令,并且精度较高。这一研究可为无传感器肢体交互智能机器人研制提供参考。

Due to some shortcomings of commercial passive robot used at present,such as high cost,complex steps to use,and the users have to wear lots of sensors,etc,a set of passive robot without wearing anything based on Kinect was proposed. The structure and composition of the robot system were introduced. The method to read and share man body data was developed. The theory composed by PID control and PWM was used in the robot system. The manipulator control system software was also put forward. The result shows that the robot can operate training command,complete the action of human,which do not have to accept the training or wear any sensors. and this research can provide reference for the development of intelligent robot without sensor.