多自由度包装机器人人机交互控制方法  

Human-Computer Interaction Control Method for Multi-Degree of Freedom Packaging Robot

作　　者：张玉兰 杜羽 ZHANG Yu-lan;DU Yu(Xuchang Electric Vocational College,Xuchang 461000,China)

机构地区：[1]许昌电气职业学院,河南许昌461000

出　　处：《包装工程》2021年第15期239-244,共6页Packaging Engineering

基　　金：河南省职业院校创新发展行动计划(教高【2017】895号)。

摘　　要：目的为了在人机交互内容和形式复杂度较高,深度信息获取较为困难的背景下,解决多自由度包装机器人控制存在的控制鲁棒性较差问题,提出新的多自由度包装机器人人机交互控制方法。方法利用Kinect传感器获取多自由度包装机器人信息,并以此为基础,通过信息熵方法计算人机交互复杂度,构建相应的人机交互控制体系,基于拉格朗日方程建立人机交互动力学模型,完成多自由度包装机器人人机交互信息深度获取;采用自适应模糊控制器控制多自由度包装机器人人机交互流程与界面,实现多自由度包装机器人人机交互的控制。选样六自由度包装机器人为实验对象,确定最佳自由参数,进行人工交互控制仿真实验。结果实验结果显示,仿真实验中的多自由度包装机器人动作完成率平均值为89.6%,平均包装时间为1.542 min,控制鲁棒性较佳。结论该控制方法大大提高了机器人控制的鲁棒性,有效提升了包装机器人的包装效率。In order to solve the problem of poor control robustness of multi degree of freedom packaging robot control under the background of high complexity of human-computer interaction content and form and difficult to obtain depth information,a new multi degree of freedom packaging robot human-computer interaction control method is proposed.The Kinect sensor is used to obtain the information of multi degree of freedom packaging robot.On this basis,the complexity of human-computer interaction is calculated by information entropy method,and the corresponding human-computer interaction control system is constructed.The dynamic model of human-computer interaction is established based on Lagrange equation,and the depth of human-computer interaction information of multi degree of freedom packaging robot is obtained;An adaptive fuzzy controller is used to control the human-computer interaction process and interface of multi degree of freedom packaging robot.The six degree of freedom packaging robot is selected as the experimental object to determine the optimal free parameters and carry out the simulation experiment of human interaction control.The experimental results show that the average action completion rate of the multi degree of freedom packaging robot is 89.6%,the average packaging time is 1.542 min,and the control robustness is better.The control method greatly improves the robustness of the robot control,and effectively improves the packaging efficiency of the packaging robot.

关 键 词：多自由度 包装机器人 人机交互 运动控制 

分 类 号：TB486[一般工业技术—包装工程] TP242[自动化与计算机技术—检测技术与自动化装置]