摘要
针对以往机械臂控制方式繁琐且技术要求高的弊端,设计了一套基于惯性动作捕捉的机械臂控制系统。由重力加速度计和弯曲度传感器构成的动作捕捉模块被固定于操作者手臂上,实时捕捉手臂各部分相对运动角度值。动作捕捉模块将各角度值通过串行方式发送给机械臂控制模块,完成对舵机角度的控制。该控制系统直接捕获手臂相对运动角,避免了空间姿态角换算问题,经实验验证其控制效果令人满意。
The traditional robot arm control is complex and professional. A robot arm control metl iod hacapture. The motion capture module composed of gravity acceleromete r and flex sen sor is fastened to the operator ＋ s arm ,and the angle of each part of relative motion are captured. The motion capture module will send each angle valiae to the robot arm con trol module through serial com-munication to steer the robot arm. The control system directly captures arm relative angle, avoiding the p rsion. Control effect is verified by the experiment.
出处
《微型机与应用》
2017年第16期5-7,共3页
Microcomputer & Its Applications
基金
江苏省大学生创新创业训练计划一般项目(201613112012Y)
