同步控制机械手臂的研究

Research on Synchronous Control of Robot Arm

现如今各行各业都开始应用机械手臂,而传统的机械手臂控制方式有一定的学习门槛和感知不强等弊端,所以该研究将探索一种新的操控机械手臂的方式。系统利用惯性传感器捕获人体手臂运动信息,再根据采集到的运动信息解算成关节角度数据,然后把关节角度信息作为控制信号输入到机械手臂的驱动模块中,最后以实现人体手臂和机械手臂同步运动的设计目标。同时通过多传感器的数据融合,将机械手臂的运动状态及时反馈给人体手臂,以增强主控人对机械手臂运动状态的主观感知能力。系统分为三个模块:穿戴式运动捕获模块、驱动机械手臂模块和机械手臂状态反馈模块。采用多传感器数据融合和人性化机械结构设计让操控机械手臂更加灵活便捷,为进一步探索人工智能时代的人机交互提供一种思路。

Nowadays,robots are used in all walks of life,and the traditional control methods of robot arms have certain learn⁃ing thresholds and disadvantages such as weak perception.Therefore,this study will explore a new way of manipulating robot arms.The system uses inertial sensors to capture the motion information of the human arm,and then calculates the joint angle data accord⁃ing to the collected motion information,and then inputs the joint angle information as the control signal to the driving module of the mechanical arm,and finally the design goal of synchronous movement of the human arm and the mechanical arm is realized.At the same time,through the multi-sensor data fusion,the motion state of the mechanical arm is fed back to the human arm in time,so as to enhance the subjective ability of the master controller to the motion state of the mechanical arm.The system is divided into three modules,which are wearable motion capture module,driving robotic arm module and robotic arm status feedback module.The use of multi-sensor data fusion and humanized mechanical structure design makes the manipulation of the robot arm more flexible and convenient,and it provides an idea for further exploration of human-computer interaction in the era of artificial intelligence.