基于手势识别远程同步控制的智能机械臂研究  

Research on Remote Synchronous Control of Intelligent Manipulator Based on Gesture Recognition

作　　者：黄晓林[1] 周浩锋 曾泳达 谢志雄 HUANG Xiaolin;ZHOU Haofeng;ZEN Yongda;XIE Zhixiong(Department of Electric Engineering,Guangdong Songshan Polytechnic College,Shaoguan 512126,China)

机构地区：[1]广东松山职业技术学院电气工程学院,广东韶关512126

出　　处：《计算机测量与控制》2021年第9期128-131,136,共5页Computer Measurement &Control

基　　金：2019年度广东大学生科技创新培育专项资金项目(pdjh2019b0749)。

摘　　要：设计一种基于手势识别远程同步控制的智能机械臂系统,系统由手势识别器和智能机械臂组成;手势识别器穿戴在手中,能够感知和识别手势指令,并通过无线传输方式把手势指令传输给智能机械臂;智能机械臂收到手势指令后其自主决策系统迅速规划最优控制,实现同步控制机械臂伸展和机械手的抓取等动作;实验结果表明,手势识别器的手势指令简单易于操作,手势指令识别准确高效,智能机械臂动作规划协调,系统大大降低了机械臂的操控难度,完全满足作业任务实时控制的需要,具有较好的实用性和广泛的应用前景。An intelligent manipulator system based on remote synchronization control of gesture recognition is designed,The system is composed of gesture recognizer and intelligent manipulator.The gesture recognizer is worn in the hand,can perceive and recognize gesture instruction,and transmit gesture instruction to intelligent manipulator by wireless transmission.After receiving the gesture instruction,the intelligent manipulator's independent decision-making system quickly plans the optimal control,and realizes the synchronous control of the manipulator extension and the manipulator grasping.The experimental results show that the gesture instruction of the gesture recognizer is simple and easy to operate,the gesture instruction recognition is accurate and efficient,the action planning of the intelligent manipulator is coordinated,and the control difficulty of the manipulator is greatly reduced.Fully meet the needs of real-time task control,with good practicability and wide application prospects.

关 键 词：手势识别 远程控制 智能机械臂 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]