基于手势识别控制的机械手的设计与实现  

Design and Implementation of Manipulator Based on Gesture Recognition Control

作　　者：王淞[1] 庄纬豪 

机构地区：[1]北京师范大学珠海分校工程技术学院,广东珠海519087

出　　处：《工业控制计算机》2018年第2期50-51,共2页Industrial Control Computer

基　　金：广东大学生科技创新培育专项资金(pdjh2017b0899)

摘　　要：针对传统机械手操作步骤复杂的情况,设计实现了一种基于手势控制的多轴机械手。通过3D打印技术完成了机械手的实体制作。通过视觉传感器检测操作者手臂在空间方位上的变化,拾取腕部及指关节的运动参数,转换为舵机指令用于控制机械手的动作。添加了记忆功能使机械手操作路径得以保存,可用于流水线等需要快速重复的场合。基于手势的控制方式操作简便,减少了动作变换的时间和操作成本,有利于生产效率的提高。A multi-axis manipulator based on gesture control is designed,aiming at the complex operation of the traditional manipulator.The robotic manipulator was completed by 3D printing technology.Through the visual sensor,the movement parameters of the operator's arm in the position of the space are detected and the motion parameters of the wrist and knuckle are transferred to the steering command to control the manipulator's movements.The memory function has been added to save the operation path of the manipulator,which can be used on the assembly line and another situation needs fast and repetitive action.

关 键 词：机器视觉 手势识别 机电一体化 机械手 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]