基于传感器融合的机器人手臂的人形控制
Furong Chen1,2,3, Feilong Wang1,2,3, Yanling Dong4
1Department of Mechanical Engineering, College of Mechanical and Electrical Engineering, Changchun University of Science and Technology, Changchun 130012, China.
Bioengineering (Basel, Switzerland)
|November 25, 2023
概括
这项研究介绍了一种多式传感器系统,用于精确控制机器人手臂. 结合Kinect,IMU和数据手套,可实现用于医学和工业应用的准确,实时的人形运动.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 人与计算机的交互
- 传感器融合式传感器
背景情况:
- 精确控制机器人手臂对于先进的应用至关重要.
- 现有的系统往往缺乏复杂的人类运动的灵巧性和直觉性.
- 整合多种传感器模式为更丰富的人类运动捕捉提供了途径.
研究的目的:
- 为机器人手臂开发一个先进的人形控制系统.
- 创建一个集成Kinect,IMU和数据手套的多式传感器系统.
- 为了实现精确的,实时控制机器人手臂运动,反映人类上肢运动.
主要方法:
- 使用Kinect和惯性测量单元 (IMU) 传感器来捕捉上肢关节的角度.
- 采用卡尔曼波器用于数据融合,提高了运动跟踪的准确性和稳定性.
- 集成数据手套技术为详细的手腕和手指运动数据 (七个方向).
主要成果:
- 成功地将Kinect,IMU和数据手套的数据合并到一个连贯的系统中.
- 实现了精确控制机器人手臂的11个自由度.
- 演示了准确和实时的人形运动,包括肩膀,肘部,手腕和手指的运动.
结论:
- 开发的多式传感器系统使得高度精确和可操作的人形机器人手臂控制.
- 这项技术为未来人类机器人交互方面的进步提供了坚实的基础.
- 潜在的应用包括医疗康复,工业自动化和虚拟现实.
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