基于Kinect的双臂机器人动作模拟与轨迹规划  

Dual-arm Robot Motion Simulation and Trajectory Planning Based on Kinect

作　　者：周彤彤[1] 刘更谦[1] 李浩源[2] 段星光[2] 

机构地区：[1]河北工业大学机械工程学院,天津300132 [2]北京理工大学机电学院,北京100081

出　　处：《科学技术与工程》2017年第7期58-62,共5页Science Technology and Engineering

基　　金：国家自然科学基金(61540036)资助

摘　　要：提出了一种基于Kinect的双臂机器人动作模拟与轨迹规划的方法。运用空间向量法计算出人体关节转动角度,通过建立人体关节与机器人关节的映射关系,将体感设备采集到的人体骨骼信息通过无线方式将控制命令传输给机器人,实现机器人的动作模拟。机器人的轨迹规划通过使用体感设备采集手臂末端位姿及运动轨迹,通过逆运动学求解,实现机器人手臂沿相同位姿运动。最后,通过仿真和实验验证了所提出方法的有效性。A method of motion simulation and trajectory planning of dual arm robot based on kinect is proposed.Using space vector method calculate the rotation angle of the joints of the human body,by establishing the mapping relationship between the joints of human body and the robot,the human skeleton information collected by the sensor device will be transmitted to the robot through wireless mode,and the motion simulation of the robot can be realized.Trajectory planning of the robot is used to collect the end pose and motion trajectory of the arm.By solving the inverse kinematics,the robot arm can move along the same position.Finally,the effectiveness of the proposed method is verified by simulation and experiment.

关 键 词：KINECT 双臂机器人 动作模拟 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]