基于数据手套体感控制的机械手研究  

Research on manipulator based on data glove somatosensory control

作　　者：朱颖[1] 杨荻铠 邴林园 师平[1] 温德军 ZHU Ying;YANG Dikai;BING Linyuan;SHI Ping;WEN Dejun(Huali College Guangdong University of Technology,Guangzhou 511325,China)

机构地区：[1]广东工业大学华立学院,广东广州511325

出　　处：《电子设计工程》2021年第12期61-66,共6页Electronic Design Engineering

摘　　要：针对机械手作业控制问题,设计了基于数据手套体感控制的机械手。该设计使用弯曲传感器和MEMS姿态传感器获取佩戴者手部姿态,并对手部姿态数据进行归一化、限幅、卡尔曼滤波处理来消除抖动与噪声,提高数据手套的鲁棒性。进行了仿人机械手设计,结合位置PID算法优化机械手控制。实验结果表明,数据手套对机械手实现了同步控制,机械手能平稳流畅地完成作业动作,证明了该系统的有效性。Aiming at the problem of manipulator operation control,a manipulator based on data glove somatosensory control is designed.In this design,the bending sensor and MEMS attitude sensor are used to obtain the wearer’s hand posture,and the hand posture data are normalized,limited and Kalman filtering to eliminate jitter and noise,and improve the robustness of the data glove.The humanoid manipulator is designed,and the position PID algorithm is combined to optimize the manipulator control.The experimental results show that the data glove realizes the synchronous control of the manipulator,and the manipulator can complete the operation smoothly,which proves the effectiveness of the system.

关 键 词：仿人机械手 数据手套 限幅去抖 位置PID 

分 类 号：TN98[电子电信—信息与通信工程]