基于sbRIO的体感交互机器人

Design of Somatosensory Interactive Robot Based on sbRIO

基于sbRIO单板控制器,本文设计一种体感交互机器人。利用陀螺仪采集人体肢体关节位置信息,该信息经过计算机计算处理后得到人体各个关节相对运动姿态角度,通过无线传输将此结果发送至机器人控制器,机器人将会做出和人相同的肢体动作。采集机器人机械手指压力信息,计算机对此压力信号处理后反馈给操作者,实现机器人同操作者的触觉反馈。同时,采集机器人周边图像信息并实时发回计算机,操作者通过VR眼镜了解机器人周边环境和机器人运行状态。经过实验验证,该机器人体感控制、触觉反馈和视觉同步功能均达到预期水平。

A somatosensory interaction robot was designed based on single board RIO.The gyroscope is used to collect the joint angular coordinates of the human body.The coordinate information is calculated by computer to obtain the relative motion attitude angle of each joint of the human body.The result is transmitted to the robot controller through wireless transmission,then robot will make the same limb movements.The robot fingers pressure information is collected,and the computer feeds back the pressure signal to the operator to realize tactile feedback of the robot and the operator.At the same time,the peripheral image information of the robot is collected and sent back to the computer in real time,and the operator knows the surrounding environment of the robot and the running state of the robot through the VR glasses.The experimental results show that the robot s somatosensory control,tactile feedback and visual synchronization functions have reached the expected level.