基于Kinect的机械臂增强现实示教研究

Manipulator Teaching Using Augmented Reality Based on Kinect

机械臂广泛地应用在工业自动化生产以及人们日常生活中,机械臂而示教学习作为一种重要的运动规划方式,是机械臂研究领域的一项重要研究内容。鉴于此,设计了一种基于Kinect的虚拟机械臂增强现实示教系统,通过Kinect传感器采集人手位置数据,利用机械臂逆运动学模型驱动虚拟机械臂跟踪人手运动,实现对机械臂的虚拟示教;利用增强现实技术,将虚拟机械臂叠加到真实环境中,实现对机械臂的增强现实示教。实验结果表明该系统能够将虚拟机械臂准确地叠加到真实环境中,并实时跟踪人手运动,系统具有良好的交互性。

Manipulators are widely used in industrial production and people＇s daily life, while, manipulator teaching, as an important method for manipulator motion planning,is one of the key issues for the research area of Manipulators.This paper presents a virtual manipulator teaching system using augmented reality based on a Kinect sensor, where, the end effector of the virtual manipulator follows the movement of the human hand based on a Kinect sensor through an inverse kinematics model,and then the resulting virtual manipulator is added into the real working environment by using augmented reality.The experimental results show that,in our system, the virtual manipulator can be accurately registered into the real working envi ronment and follow the movement of the human hand in real-time.