基于人机交互的机械臂位姿自动监视系统设计  

Design of automatic monitoring system for position and pose of manipulator based on human-computer interaction

作　　者：吴兵[1] WU Bing(Shanxi Institute of Technology,Xianyang Shanxi 712000,China)

机构地区：[1]陕西工业职业技术学院

出　　处：《自动化与仪器仪表》2020年第2期101-104,共4页Automation & Instrumentation

基　　金：陕西工业职业技术学院专项科研计划项目“基于CT图像处理和三维打印应用研究”(No.ZK13-10);陕西省高等教育教改项目“逆向工程技术课程教学资源库建设研究与实践”(No.15Z07)

摘　　要：为了提高机械臂位姿自动监视和控制能力,提出一种基于人机交互的机械臂位姿自动监视系统设计方法,系统设计包括机械臂的位姿自动控制算法设计和系统硬件设计两部分,采用粒子滤波位姿跟踪方法进行机械臂的动态定位位姿参数信息采集和融合处理,在动态和静态环境下,结合加速全局定位方法进行机械臂位姿自动监视的人机交互设计,构建机械臂人机交互的动态定位控制模型,采用自适应位姿跟踪方法实现对机械臂的位姿自动监视,通过捕捉未知目标的质量特性参数,实现机械臂的位姿自动监视和人机交互设计。通过DSP和嵌入式ARM实现对机械臂位姿自动监视系统的硬件设计。测试结果表明,采用该方法进行机械臂位姿自动监视的自动化水平较高,智能性较好,提高了机械臂的位姿自动监视和控制能力。In order to improve the automatic monitoring and control ability of robot arm position and pose,a design method of automatic monitoring system based on man-machine interaction is proposed.The system design includes two parts:automatic control algorithm design and hardware design.The particle filter position and attitude tracking method is used to collect and fuse the dynamic position and attitude parameters of the manipulator.In the dynamic and static environment,the human-computer interaction design of automatic monitoring of the position and attitude of the robot arm is carried out in combination with the accelerated global positioning method.The dynamic positioning control model of man-machine interaction is constructed,and the self-adaptive pose tracking method is adopted to realize the automatic monitoring of the robot armzs position and pose,and to capture the quality characteristic parameters of unknown targets.The automatic monitoring of position and pose and the design of man-machine interaction are realized.The hardware design of automatic monitoring system of robot arm position and pose is realized by DSP and embedded ARM.The test results show that the automatic level and intelligence of the automatic monitoring of the position and pose of the robot arm are higher,and the automatic monitoring and control ability of the position and pose of the robot arm is improved.

关 键 词：人机交互 机械臂 位姿 自动监视系统 控制 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]