基于数字孪生的教育机器人人机交互系统设计  

Design of human-machine interaction system for educational robots based on digital twins

作　　者：石艾鑫 马晓燕 SHI Aixin;MA Xiaoyan(Xi’an Siyuan University,Xi’an 710038,China;Shaanxi University of Science&Technology,Xi’an 710038,China)

机构地区：[1]西安思源学院,西安710038 [2]陕西科技大学,西安710038

出　　处：《自动化与仪器仪表》2025年第1期277-280,285,共5页Automation & Instrumentation

摘　　要：为进一步提升机器人使用过程中的人机交互效果,以教育型机器人为研究对象,提出一种基于数字孪生技术的人机交互控制系统。其中,在引入数字孪生技术构建机械臂控制框架的基础上,提出一种基于近端策略优化算法PPO的机械臂末端目标跟踪控制方法,以进一步提升系统的机械臂控制水平和交互性能。仿真结果表明,所引入的PPO算法在进行机械臂末端目标跟踪控制过程中能够保持较高的控制精度以及成功率,整体性能良好;与其他类型的控制方法相比,在目标小球跟踪指向测试以及路径跟踪控制测试中,设计的基于PPO算法的控制方法控制效果更佳,能够控制机械臂末端以更快的速度完成跟踪指向任务,并按照更加接近于目标路径的轨迹进行移动。综上,所构建的基于数字孪生的教育机器人交互控制系统性能良好,能够对机器人机械臂的移动进行更加准确的跟踪控制,可应用实际的教育机器人交互优化场景中,提升人机交互效果,可行性较高。To further improve the human-machine interaction effect during the use of robots,a human-machine interaction control system based on digital twin technology is proposed with educational robots as the research object.On the basis of introducing digital twin technology to construct a robotic arm control framework,a robotic arm end target tracking control method based on proximal strategy optimization algorithm PPO is proposed to further improve the control level and interaction performance of the system.The simulation results show that the introduced PPO algorithm can maintain high control accuracy and success rate in the process of tracking and controlling the end effector of the robotic arm,and the overall performance is good;Compared with other types of control methods,the control method based on PPO algorithm designed in this study has better control effects in target ball tracking and path tracking control tests.It can control the end of the robotic arm to complete tracking and pointing tasks at a faster speed and move according to a trajectory closer to the target path.In summary,the constructed educational robot interaction control system based on digital twins has good performance and can track and control the movement of the robot arm more accurately.It can be applied in practical educational robot interaction optimization scenarios to improve human-machine interaction effects and has high feasibility.

关 键 词：人机交互 控制优化 数字孪生技术 跟踪控制 PPO算法 

分 类 号：TP392[自动化与计算机技术—计算机应用技术]