仿人机器人虚拟示教系统的设计与实现  

Design and Implementation of Virtual Teaching System for Humanoid Robot

作　　者：甘志刚[1] 肖南峰[1] 

机构地区：[1]华南理工大学计算机科学与工程学院,广东广州510640

出　　处：《华南理工大学学报（自然科学版）》2008年第1期18-24,共7页Journal of South China University of Technology(Natural Science Edition)

基　　金：国家自然科学基金资助项目(60375031);国家自然科学基金与中国民用航空总局联合资助项目(60776816);广东省自然科学基金重点资助项目(36552)

摘　　要：引入虚拟现实技术对仿人机器人进行三维虚拟示教,对于改善仿人机器人的运动控制算法具有非常重要的意义.文中首先提出了具有七自由度机器手臂和六自由度机器腿的逆运动学计算方法,并采用三次多项式插值的方法来进行空间轨迹规划,在此基础上设计和实现了仿人机器人三维虚拟示教系统.示教仿人机器人手足协调舞蹈的仿真实验结果证明了虚拟示教系统的正确性和实用性.The 3D virtual teaching of humanoid robot via virtual reality technology is very significant for improving the control algorithms of a humanoid robot. In this paper, the inverse kinematic calculations are first presented for the humanoid robot with 7-DOF （Degree of Freedom） arms and 6-DOF legs, and the space trajectory planning of the arms and legs is then implemented by means of cubic polynomial interpolation. Furthermore, a 3D virtual teaching system for the humanoid robot is designed and implemented. By teaching the humanoid robot to dance, it is finally proved that the proposed virtual teaching system is correct and feasible.

关 键 词：仿人机器人 虚拟示教系统 冗余自由度 逆运动学 轨迹规划 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]