光学运动捕捉在机械臂遥操作控制中的应用研究  

Applying Optical Motion Capture to Teleoperation Control of Manipulator

作　　者：张伯强 方宇 杨皓 杨蕴杰 黄子健 ZHANG Boqiang;FANG Yu;YANG Hao;YANG Yunjie;HUANG Zijian(School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai 201620,China)

机构地区：[1]上海工程技术大学机械与汽车工程学院,上海201620

出　　处：《机械科学与技术》2023年第11期1837-1843,共7页Mechanical Science and Technology for Aerospace Engineering

基　　金：上海市松江区科技攻关项目(20SJKJGG08C)。

摘　　要：针对传统机械臂的遥操作控制直观性不强、操作繁琐等问题,本文提出了一种基于光学运动捕捉的机械臂遥操作控制方法。建立了运动捕捉系统与机械臂的标定模型,实现了坐标系之间的转换;在ROS-kinetic中建立服务器和客户端,实现了不同系统数据之间相互转化与实时传输。通过在引导机械臂末端粘贴标记点、构建刚体的方式进行跟踪试验,结果表明该方法降低了主端的复杂程度,在保证从端操作精度的情况下,可实时地完成六自由度机械臂遥操作任务,方法操作简单、可移植性和可扩展性强。Because the teleoperation control of a traditional manipulator has poor intuition and cumbersome operation,the teleoperation control method of a manipulator based on optical motion capture is proposed in this paper.The calibration model of motion capture system and manipulator is established,and the transformation between coordinate systems is realized.The server and client are established with the kinetics of a robot operating system to realize the mutual transformation and real-time transmission of data between different systems.The results show that this method reduces the complexity of the master end and can complete the teleoperation task of the 6-DOF manipulator in real time under the condition of ensuring the operation accuracy of the slave end.The method has the advantage of simple operation,strong portability and expansibility.

关 键 词：运动捕捉 ROS 遥操作 机械臂 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]