基于Kinect的七自由度空间机械臂体感控制方法  

Somatosensory Control Metho of 7-DOF Space Manipulator Based on Kinect

作　　者：张博文 黄攀峰[1,2] 刘正雄[1,2] ZHANG Bowen;HUANG Panfeng;LIU Zhengxiong(Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi’an 710072, China;National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi,Chinaan 710072,China)

机构地区：[1]西北工业大学航天学院智能机器人研究中心,西安710072 [2]西北工业大学航天飞行动力学技术重点实验室,西安710072

出　　处：《载人航天》2019年第1期85-91,共7页Manned Spaceflight

基　　金：国家自然科学基金(6173317);国家杰出青年科学基金(61725303)

摘　　要：针对七自由度空间机械臂的体感控制问题,提出了一种基于操作周期和运动周期的增量式关节角人机运动映射方法。使用Kinect传感器采集人体关节点坐标数据并使用空间向量法计算关节角,根据关节角增量及手势命令计算得到机械臂关节角。为解决关节坐标数据的抖动与失真问题,分析了Kinect对不同关节点采集的数据精度的关系,并给出一种限幅平滑滤波算法。结合上述结果,提出对操作周期进行分段的方法,并给出了优化后的体感控制算法。最后,搭建了空间机械臂体感控制的仿真试验平台,在Unity中搭建仿真试验场景,经体感控制下的空间机械臂运动试验验证了所提出方法的可行性。To solve the somatosensory control problem of 7-DOF space manipulator,an incremental joint angle man-machine motion mapping method was proposed based on action period and movement period.The Kinect sensor was used to collect the coordinate data of the human joints and the joint angle was calculated by the space-vector method.The joint angle of the space manipulator was calcu-lated according to the joint angle increment and the gesture command.The accuracy of Kinect for different human joints was analyzed to solve the problem of jitter and distortion of data.A limited-width smooth filtering algorithm and a method for segmenting the operation cycle were proposed and the optimized somatosensory control algorithm was given.In the end,a simulation experiment plat-form for somatosensory control of the space manipulator was built and the simulation experiment scene was built in Unity.The feasibility of the proposed method was verified by space manipulator motion experiment under somatosensory control.

关 键 词：KINECT 人机交互 限幅平滑滤波算法 人机运动映射 分段式体感控制 

分 类 号：V448.2[航空宇航科学与技术—飞行器设计] TP241.3[自动化与计算机技术—检测技术与自动化装置]