仿人机器人眼部运动准确控制与实现  

Accurate Control and Realization of Humanoid Robot Eye Movement

作　　者：信继忠 柯显信[1] 杨阳[1] 尚宇峰[1] 

机构地区：[1]上海大学机电工程与自动化学院,上海200072

出　　处：《计算机仿真》2015年第12期349-353,共5页Computer Simulation

基　　金：国家自然科学基金资助项目(61273325)

摘　　要：在机器人眼部运动准确控制的研究中,人体的面部表情主要依赖于眼睛、眉毛、嘴和下颚,对眼部机构的研究是仿人机器人表情再现和人机交互的一个重要组成部分。用串联机构设计的眼球转动机构,无法解决眼球直径较小还要在里面放置摄像头的问题。提出采用空间RSSR机构设计了8自由度眼部机构,对眼球转动机构进行运动学分析,并在ADAMS中进行运动学仿真。针对单片机控制系统的控制精度低和抗干扰能力差问题,构建了以FPGA为舵机控制器、舵机为驱动装置的控制系统。实验结果表明,改进控制系统能够使得眼部机构实现同人眼一样的运动。在保证了眼球完整性的前提下,上述机构可以实现较大范围的角度转动,具有传动精确可靠、两个眼球独立控制的特点。Human facial expressions mainly depends on the eyes, eyebrows, mouth and jaw. It is an important part of the humanoid robot facial expression representation and human - computer interaction for design and research on the eye mechanism. In the paper, we designed the eye mechanism with 8 degrees of freedom by using spatial RSSR mechanism. The kinematics analysis and kinematics simulation with ADAMS were carried out on the eye rota- tion mechanism. Because the single - chip microcomputer control system has low precision and poor anti - interfer- ence ability, the new one was constructed with FPGA servo controller and servo as driving device. The experimental results show that the eye mechanism can move like the human eye under the control system. It can achieve a larger range of rotation angle in ensuring the premise of the integrity of the eyeball, and has accurate and reliable transmis- sion, two eye control independently features.

关 键 词：仿人机器人 眼部机构 运动学仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]