| 林麒光,刘 宇,李 杰,刘小峰.基于轨迹测量与人机映射的六自由度机械臂运动追踪模型[J].电子测量与仪器学报,2023,37(3):102-110 |
| 基于轨迹测量与人机映射的六自由度机械臂运动追踪模型 |
| Motion tracking model of 6-DOF manipulator based on trajectorymeasurement and human-machine mapping |
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| DOI： |
| 中文关键词: 机械臂 运动学 人机映射 遥操作 NMPC |
| 英文关键词:manipulator kinematics man-machine mapping remote operation NMPC |
| 基金项目:国家重点研发计划(2018AAA0100803)、国家自然科学基金(62203150, 62276090)、江苏省前沿引领计划(CZ521001612)、江苏重点研发计划(BK20192004B,BE2018004-04)、中国博士后科学基金(2021M701051)、江苏省卓越博士后计划(2022ZB192)、常州市重点研发计划-应用基础研究项目(CJ20220051)、广东省林业科技创新项目(2020KJCX005)、生物电子学国家重点实验室开放基金(IPM1914)项目资助 |
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| 中文摘要: |
| 本研究提出了一种基于六自由度机械臂的遥操作人机系统,旨在设计一种不依赖穿戴设备且直观易用的操控方式。 该
系统使用 KinectV1 摄像头及 UR3 机械臂,以 Microsoft 骨骼识别库作为基本的人体姿态识别方法,通过人体手臂与机械臂关节
的映射,实现机械臂实时追踪人体手臂动作的任务。 同时,采用非线性模型预测控制(NMPC)算法对机械臂运动控制进行优
化,并设定模糊规则来实现 NMPC 参数的自适应调整。 实验结果表明,在 NMPC 的优化作用下,机械臂在 x 及 z 两个平动方向
的平均位移误差和 3 个转动方向的平均旋转误差以及关节角变化量平均误差都有了显著的降低。 测试结果也表明,机械臂整
体动作跟随效果良好,验证了本文提出的映射规则和运动学模型的准确性,以及模糊 NMPC 控制器的有效性。 |
| 英文摘要: |
| This study proposes a teleoperation system based on a six-degree-of-freedom robot arm, aiming to design a non-wearable and
intuitive control method. The system uses a Kinect V1 camera and a UR3 robot arm, with the Microsoft skeleton recognition library as
the basic method for human pose recognition. By mapping the human arm to the robot arm joints, the robot arm can track the motion of
the human arm in real-time. Meanwhile, the nonlinear model predictive control (NMPC) algorithm is used to optimize the robot arm
motion control, and fuzzy rules are set to achieve adaptive adjustment of NMPC parameters. The experimental results show that under the
optimization of NMPC, the robot arm has significantly reduced average displacement and rotation errors in both the x and z translation
directions and the three rotational directions, as well as average error in joint angle changes. The test results also demonstrate that the
overall motion tracking performance of the robot arm is good, verifying the accuracy of the proposed mapping rules and kinematic model,
as well as the effectiveness of the fuzzy NMPC controller. |
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