自动化学报2016，Vol.42Issue(12)：1839-1848,10.DOI:10.16383/j.aas.2016.c160137
遥操作护理机器人系统的操作者姿态解算方法研究
Operator Attitude Algorithm for Telerobotic Nursing System
左国玉 1于双悦 2龚道雄1
作者信息
- 1. 北京工业大学电子信息与控制工程学院北京100124
- 2. 计算智能与智能系统北京市重点实验室北京100124
- 折叠
摘要
Abstract
This paper presents a telerobotic nursing system using inertial navigation information. In order to realize following control of the slave nursing robot, an attitude solution method is proposed for operator attitude in the master system. First, a motion capture system based on inertial units is built. To meet real-time demand, quaternion method with relatively low computation is performed in attitude solution for human data acquired from the master system, and then data fusion and compensation are conducted. Second, the attitude data obtained by quaternion method are further calculated as attitude of each joint of the slave robot with a humanoid structure, and thus an isomorphic motion mapping from human operator to slave robot is completed. Finally, experiments of taking and delivering bottle of the telerobotic system are described, and solution performance analysis on the attitude data from the master motion capture system are presented. The results show that there is a small measuring deviation with an absolute error less than 2% between the proposed method and the reference system. The attitude solving method can satisfy the requirements for fast and accurate attitude processing when the slave robot conducts a nursing task by following the nurse operator.关键词
遥操作护理机器人/姿态解算/同构映射/人体运动跟踪Key words
Telerobotic nursing system/attitude algorithm/isomorphic mapping/human motion tracking引用本文复制引用
左国玉,于双悦,龚道雄..遥操作护理机器人系统的操作者姿态解算方法研究[J].自动化学报,2016,42(12):1839-1848,10.
