6自由度机械臂远程控制系统研究  

Research on remote control system for 6-DOF robot arm

作　　者：刘明磊 李捍东[1] 庞爱平 刘晓燕[1] 陈进军[1] LIU Minglei;LI Handong;PANG Aiping;LIU Xiaoyan;CHEN Jinjun(College of Electrical Engineering,Guizhou University,Guiyang 550025,China)

机构地区：[1]贵州大学电气工程学院

出　　处：《现代电子技术》2020年第2期37-40,44,共5页Modern Electronics Technique

基　　金：国家自然科学基金：基于主动激励触觉传感及机械手系统状态辨识的软抓取方法研究（61663005）;贵州大学引进人才科研项目：运动物体的H-inf综合控制研究

摘　　要：机器人控制技术在全球范围内飞速发展,人与机器人之间的交互方式正朝着方便、直观的方向发展。通过体感表征操作人员的骨骼和腕部信息,可以为机器人的远程操控提供必要的控制信息。该文融合视觉和可穿戴体感,研究了交互式6自由度机械手臂控制系统,使用人体肩、肘的旋转角度和握拳动作,来分别控制机械手臂的6个关节和抓取;并构建了分布式远程操控实验平台,数据和指令通过无线方式进行传输。实验结果表明,采用融合视觉和可穿戴体感的交互式机器人能有效直观地控制机械臂进行物体抓取。With the rapid development of robot control technology in the world,the interaction between human and robot is developing in the direction of convenience and intuitionistic.The skeleton and wrist information of the operator is represented by the somatosensory,which can provide the necessary control information for remote control of robot.The interactive 6⁃DOF robot arm control system is researched in combination with the vision and wearable somatosensory.The rotation angle and clenching action of human shoulder and elbow are used to control the 6 joints and grabs of the robot arm,respectively.A distributed remote control experiment platform is constructed,and the data and instructions are transmitted wirelessly.The experimental results show that the interactive robot with fusion vision and wearable somatosensory can effectively control the robot arm to grab objects.

关 键 词：远程控制系统 6自由度机械臂 机器人控制 体感融合 数据传输 系统测试 

分 类 号：TN876-34[电子电信—信息与通信工程] TM45[电气工程—电器]