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针对人机自然交互技术研究中人臂与机械臂的关节映射问题,提出了一种7自由度类人机械臂关节运动直接示教方法.该方法利用Kinect获取笛卡儿空间内人臂特征点的空间位置坐标,研究了一种基于肘部约束的冗余7自由度人臂逆运动学解法,求解得到关节角度数据.为解决由于Kinect对人臂追踪性能限制所造成的机械臂抖动问题,提出了一种滤波方法来平滑处理机械臂的关节运动轨迹.最终,通过搭建基于Motoman类人机器人的实验平台并开展相应实验研究,验证了所提方案的可行性与有效性.
Aimed at the joint mapping between human arm and manipulator in the research of human-computer natural interaction technology, a direct teaching method of joint motion of humanoid manipulator with 7-DOF humanoid arm was proposed. This method used Kinect to obtain the characteristic points of human arm in Cartesian space A robot arm inverse kinematics method based on elbow constraint was researched to obtain the joint angle data.To solve the problem of arm jitter caused by Kinect’s restriction on human arm tracking performance, A filtering method is proposed to smooth the joint trajectory of the manipulator.Finally, the feasibility and effectiveness of the proposed scheme are verified by setting up an experimental platform based on the Motoman humanoid robot and carrying out experiments.