实验科学与技术2025，Vol.23Issue(5)：15-20,6.DOI:10.12179/1672-4550.20240105
基于语音识别的前臂机械手实验设计
Experimental Design of a Forearm Manipulator Based on Speech Recognition
摘要
Abstract
In the context of"New Engineering",targeting the experimental teaching for automation majors,a comprehensive and innovative experiment on a speech-recognition-based forearm manipulator control system is designed.This experiment achieves control of the forearm manipulator through speech recognition,utilizing the STM32F405 as the voice control chip.The system employs the MPU6050 to measure the three-axis angular velocity and three-axis acceleration of the arm.The sensor data is processed and analyzed using a gradient descent algorithm based on quaternions to determine the real-time pose of the forearm manipulator.The motors are controlled to maintain its hand level with the horizontal plane during movement,thereby achieving self-balancing.The system utilizes an OpenMV machine vision module to perform grip correction when the manipulator executes grasping tasks,thereby achieving closed-loop control.It has been demonstrated that implementing this speech-recognition-based embedded control system experiment for manipulators in universities meets the needs of modern experimental teaching,helping students to better understand and apply the construction process of embedded platforms and to skillfully handle various complex engineering problems.关键词
前臂机械手/嵌入式控制系统/创新性实验/实验教学/新工科教育Key words
forearm manipulator/embedded control system/innovative experiment/experimental teaching/new engineering education分类
社会科学引用本文复制引用
孙秀娟,原晓澜,王传江,刘春晖,赵瑞..基于语音识别的前臂机械手实验设计[J].实验科学与技术,2025,23(5):15-20,6.基金项目
山东省人工智能赋能重点领域教学改革项目(D2024003) （D2024003）
山东省高等学校课程思政教学改革研究项目(SZ2023087) （SZ2023087）
山东科技大学优秀教学团队培育计划项目(TD20241005). （TD20241005）
