面向手部维修动作的工业机器人运动捕捉与控制研究  

Motion Capture and Control of Industrial Robots for Hand Repair Actions

作　　者：王晓宇 Wang Xiaoyu(SAIC Motor Corporation,Wuxi Jiangsu 214100,China)

机构地区：[1]上汽大通汽车有限公司,江苏无锡214100

出　　处：《机械管理开发》2025年第2期251-253,共3页Mechanical Management and Development

摘　　要：针对手部维修任务中人力消耗过大的问题,研究提出了一种面向手部维修动作的工业机器人运动捕捉与控制系统。首先,研究先对基于维修任务的工业机器人手部运动捕捉运动学进行分析;然后,研究对基于双目立体视觉技术的手部维修动作捕捉控制系统进行构建;最后,研究在Adams和MATLAB软件上进行仿真分析。仿真结果显示,基于研究系统的工业机器人指关节角1、2、3、4的运动变化曲线与真实人手指关节角的运动轨迹高度吻合,验证了研究系统能够精准模拟并复现人手在维修作业中的复杂运动规律。In order to solve the problem of excessive manpower consumption in hand repair tasks,a motion capture and control system for industrial robots oriented to hand repair actions was proposed.Firstly,the kinematics of hand motion capture of industrial robots based on maintenance task is analyzed.Then,the motion capture control system of hand maintenance based on binocular stereo vision technology is constructed.Finally,the simulation analysis is carried out on Adams and MATLAB software.The simulation results show that the motion change curves of knuckle angles 1,2,3 and 4 of industrial robots based on the research system are highly consistent with the motion trajectories of real human hand knuckle angles,which verifies that the research system can accurately simulate and reproduce the complex motion laws of human hands in maintenance operations.

关 键 词：手部维修动作 工业机器人 运动捕捉 双目视觉技术 

分 类 号：TD421.5[矿业工程—矿山机电]