基于数据手套的仿生机械手控制与示教再现  

Biomimetic Robot Control and Teaching Reproduction Based on Data Gloves

作　　者：李伟峰 张久昌 宁林祥 廖敦明[2] LIWeifeng;ZHAND Jiuchang;NING Linxiang;LIAO Dunming(Zhejiang Hongma Casting Co.,Ltd.,Pinghu 314200,China;School of Material Science and Engineering,Huazhong University of Science and Technology,Wuhan 430074,China;Zhejiang Ouyeda Machinery Manufacturing Co.,Ltd.,Huzhou 313000,China)

机构地区：[1]浙江红马铸造有限公司,浙江平湖314200 [2]华中科技大学材料科学与工程学院,湖北武汉430074 [3]浙江欧冶达机械制造股份有限公司,浙江湖州313000

出　　处：《铸造技术》2020年第9期861-866,共6页Foundry Technology

摘　　要：针对欠驱动仿生机械手的主从控制和示教再现等内容展开研究,构建仿生机械手控制系统实验平台,通过数据手套采集人手运动信息,采用关节角度映射将运动信息转化为机械手运动指令,借助无线通信将运动指令发送给机械手以实现实时在线主从控制;然后,借助主从控制完成仿生机械手的在线示教工作,并将示教期间的运动指令存储起来,顺序读取执行运动指令便可以再现示教动作。最后,通过手势运动测试验证本文设计的主从控制和示教再现的准确性和可靠性。In this paper,the master-slave control and teaching reproduction of under-actuated bionic manipulators are studied.The experimental platform of bionic robot control system is constructed.The data of human hand movement is collected through data gloves,and the motion information is converted into manipulator motion command by joint angle mapping.The communication sends the motion instruction to the robot to realize the real-time online master-slave control;then,the online teaching operation of the bionic robot is completed by the master-slave control,and the motion instruction during the teaching is stored,and the sequential reading execution motion command can be reproduced.Teaching action.Finally,the accuracy and reliability of the master-slave control and teaching reproduction of the design are verified by gesture motion test.

关 键 词：仿生机械手 主从控制 示教再现 数据手套 

分 类 号：TG231[金属学及工艺—铸造]