基于惯性动作捕捉的主从遥操作关节空间直接控制方法  

Joint-space direct control method for master-slave teleoperation based on inertial motion capture

作　　者：黄学祥[1] 时中[1] 宋爱国[2] 胡天健[1,3] 

机构地区：[1]北京跟踪与通信技术研究所,北京100094 [2]东南大学仪器科学与工程学院,南京210096 [3]清华大学航天航空学院,北京100084

出　　处：《东南大学学报（自然科学版）》2016年第2期283-288,共6页Journal of Southeast University：Natural Science Edition

基　　金：国家自然科学基金资助项目(11402004)

摘　　要：为了克服传统主从遥操作方法需要进行大量的正/逆运动学解算且操作复杂、不直观的缺点,利用惯性动作捕捉设备将人体手臂动作信息引入遥操作控制回路中,提出了一种基于惯性动作捕捉的主从遥操作关节空间直接控制方法.然后,提出了一种基于四元数的关节空间非奇异映射算法,用于构建虚拟手臂模型,并利用该模型直接控制远端机器人的关节空间.试验结果表明,该方法可以直接控制远端机器人的关节空间,关节空间控制误差小于0.2°;末端位置控制精度小于10 mm,与基于手控器的传统主从遥操作方法相当.因此,基于惯性动作捕捉的主从遥操作方法不仅可以对远端机器人末端位置进行精确控制,而且可以直接控制远端机器人的关节空间,提高操作者的直观性和灵活性.To overcome the shortcomings that the traditional master-slave teleoperation method needs lots of positive / inverse kinematics solving with complex and non-intuitive operations,the arm movements of human bodies are introduced into the teleoperation control loop by the inertial motion capture device,and a joint-space direct control method for master-slave teleoperation based on the inertial motion capture is proposed. Then,the joint-space nonsingular mapping algorithm based on quaternion is proposed to model a virtual arm to directly control the remote robot＇s joint-space. The experimental results showthat this method can control the remote robot＇s joint-space directly and the control errors of the joint-space are smaller than 0. 2°. The control errors of the end position are smaller than 10 mm,which equates to that by the traditional master-slave teleoperation method based on the hand controller. Therefore,the master-slave teleoperation method based on the inertial motion capture can accurately control the end position of the remote robot,and control the remote robot＇s joint-space directly to improve the intuition and flexibility of the operator.

关 键 词：主从遥操作 惯性动作捕捉 虚拟手臂模型 关节空间映射 四元数 

分 类 号：TP334.2[自动化与计算机技术—计算机系统结构]