机器人2017，Vol.39Issue(5)：697-703,7.DOI:10.13973/j.cnki.robot.2017.0697
基于Kinect的类人机械臂关节运动直接示教
Direct Teaching in Joint Space for Humanoid Manipulator Using Kinect
摘要
Abstract
For joints mapping between the human arm and the manipulator in human-machine natural interaction, a direct teaching scheme for 7-DOF (degree of freedom) humanoid manipulator in joint space is proposed. In the proposed approach, the Kinect sensor is adopted to acquire the position coordinates of the feature points of the human arm in Cartesian space, and an inverse kinematics method of the redundant 7-DOF human arm based on elbow constraints is investigated to obtain the joint angle data. To solve the trembling problem of humanoid manipulator caused by performance limits of Kinect for tracking the human arm motion, a filtering algorithm is proposed to smooth the joint motion trajectory of the manipulator. Finally, an experiment platform based on Motoman humanoid is set up and relevant experiments are conducted to verify the feasibility and effectiveness of the proposed approach.关键词
人机自然交互/直接示教/类人机械臂/Kinect/滤波Key words
human-machine natural interaction/direct teaching/humanoid manipulator/Kinect/filtering分类
信息技术与安全科学引用本文复制引用
王朝阳,曲家迪,张福海,王宇,付宜利..基于Kinect的类人机械臂关节运动直接示教[J].机器人,2017,39(5):697-703,7.基金项目
国家自然科学基金(61673134) （61673134）
黑龙江省自然科学基金(LC2017022). （LC2017022）
