基于任务调度的双边控制机器人书法系统设计

Design of calligraphy system of bilateral controlled robot based on task scheduling

针对目前关于机器人毛笔书法研究大多采用虚拟绘制的方法,无法具体实现,反馈力过于理想性,缺乏真实感的问题,设计了基于力反馈双边控制结构的毛笔书写系统。用户可通过主从两台Geomagic Touch力觉交互设备在搭载压力传感器的书写平台实现毛笔书写。对Geomagic Touch设备的运动控制采用了一种基于多自由度机械臂的快速任务调度的模块化联合控制方法,提高了整体系统执行效率。实验结果表明:系统控制稳定,响应速度快,具有很好的跟随性。主从两端书写结果笔迹和结构相似,基本实现了利用双边控制进行毛笔书写的目标。

Research of robot brush calligraphy mostly adopts the method of virtual drawing. But this method can not achieve the concrete realization of brush calligraphy,and the force of feedback is too ideal. To solve this problem,a brush writing system which is based on force feedback bilateral control structure is designed. In the system,users can realize brush writing by using master and slave Geomagic Touch force interaction equipments to write on the writing platform equipped with pressure sensor. At the same time,a modular joint control method of fast task scheduling based on multi-degree of freedom robot arm is adopted to control the motion of Geomagic Touch equipment,which improves the efficiency of the whole system. The experimental results show that the brush writing system is stable in control and fast in response,and has good following features. The writing results of the master and the slave are similar in chirography and structure. It basically realizes the target of writing with brush by bilateral control.