基于臂型角的Baxter机械臂运动映射方法  

Pose Mapping Method for Baxter Manipulator Based on Arm Angle

作　　者：赵京东[1] 王梓睿 张佳钰 孔祥祎 罗浩伦 姜伟[1] 刘思远[1] 赵亮亮[1] 谢宗武[1] ZHAO Jingdong;WANG Zirui;ZHANG Jiayu;KONG Xiangyi;LUO Haolun;JIANG Wei;LIU Siyuan;ZHAO Liangliang;XIE Zongwu(State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150001,China)

机构地区：[1]哈尔滨工业大学机器人技术与系统全国重点实验室,哈尔滨150001

出　　处：《载人航天》2024年第6期735-745,共11页Manned Spaceflight

基　　金：国家自然科学基金基础科学中心项目(T2388101)。

摘　　要：在采用机器人进行远程操作过程中,针对任务空间映射算法的参数确定缺少系统化理论的问题,提出了一种系统化的定缩放因子映射算法和姿态映射算法,使映射后的人臂工作空间尽可能充满机械臂工作空间;针对任务空间映射会丢失臂型角信息的问题,提出基于黄金分割法的臂型角逆运动学求解方法,将臂型角的概念推广到有连杆长度的SRS型机械臂中;针对Kinect相机的随机抖动,提出基于卡尔曼滤波的消抖算法。实验结果表明:逆运动学算法能以平均时间28 ms正确跟踪期望轨迹;轨迹跟踪x方向平均误差为904 mm,y方向误差为1049 mm,z方向误差为649 mm,臂型角平均跟踪误差为074°。Baxter机械臂能够执行期望的目标轨迹,并能够根据人臂的臂型角调整构形。For the applications of robotic remote control,the systematic theory is lacking in parameter determination of task space mapping algorithm.In this paper,a systematic fixed scaling factor mapping algorithm and orientation mapping algorithm was proposed to make the mapped human hand workspace filling the manipulator workspace as much as possible.To solve the problem of missing arm angle information in task space mapping,an inverse kinematics method based on golden section method was presented.The concept of arm angle was successfully extended to SRS(Spherical-Roll-Spherical)robotic arm with link length,like Baxter.Finally,to reduce the random jitter of Kinect camera,an algorithm based on Kalman filter was proposed.Experiments showed that the inverse kinematics algorithm could track the desired trajectory correctly with the average time of 28 ms.Baxter manipulator could track the desired end effector trajectory with the average error of 904 mm along x direction,1049 mm error along y direction,and 649 mm error along z direction.Moreover,the manipulator could change the configuration adaptively based on human arm angle with the average tracking error of 074°.

关 键 词：远程操作 任务空间映射 臂型角 卡尔曼滤波 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]