基于光学运动捕捉的机械臂控制运用研究

Research on the Application of Robotic Arm Control Based on Optical Motion Capture

针对当前光学运动捕捉技术,探索基于光学运动捕捉的机械臂设计和控制的可行性。通过对OptiTrack运动捕捉系统、机器人操作系统(Robot Operating System,ROS)和机械臂操作实现原理的探讨,验证了基于光学运动捕捉的机械臂设计的可行性,并运用D-H参数法为机械臂进行运动建模,从理论上验证了基于光学运动捕捉的机械臂设计和实际运用的可行性。

This article explores the possibility of designing and controlling a robotic arm based on optical motion capture in response to current optical motion capture technology.By exploring the principles of OptiTrack motion capture system,Robot Operating System(ROS)system and robotic arm operation,the feasibility of the design of the robotic arm for optical motion capture is verified,the motion modeling of the robotic arm is carried out by using the D-H parameter method,and the feasibility of designing and applying the optical motion capture robotic arm is theoretically verified.