Research On Track Reconstruction Based On Inertia Measurement In Tele-operation Robot Application

With the developing requirement of human exploration in unknown space and high-risk jobs,the tele-operation robot techniques which combine human's intelligence with the robot's high reliability and accuracy has broad application value in the area of space exploration,ocean development,atomic energy application and rescue work.Because tele-operation robot system needs human's decision during the execution of tasks,efficient way of human-robot interface is the precondition for robot to accomplish tasks rapidly and accuracy.In this thesis,a method which enables human to interact with robot by human's body movement is designed,based on the analysis of human-robot interaction research status.Taking these topic into consideration,the main work finished is as follows:1.Based on the comparison with many kinds of movement detection methods,a scheme is presented which uses the inertia signal generated from human's hand movement to reconstruct move path and then extracts characteristic point as target of robot movement.2.The key point of strapdown inertial navigation technique related to velocity and position inference is introduced and discussed to provide basic tools for this thesis.3.The error source of MEMS inertia sensors used in this thesis is discussed in detail.Firstly,as to attitude angle calculation,the research work is focused on applying Kalman filtering algorithm to fusion of acceleration and speed data,and then a Kalman filter is designed based on Quaternion.Secondly,an suitable error suppressing algorithm is provided based on analyzing the mainstream algorithm in suppressing acceleration integral error.Thirdly,the feasibility of reconstructing path directly to control robot movement from the integration of acceleration signals is shown and an algorithm is designed which extracts target point form the reconstruction path as robot's movement target based on displacement threshold.4.The coordinate systems used in robot application are introduced and the procedures for coordinate systems initial alignment is designed.A inertia signal collection platform is built up,which adopts STM43F407 as the MCU and MPU-6050 as the inertia sensor.Programs to process the sensor data are coded in MATLAB,and an industrial robot system of IRB1410 with IRC5 is used to track human hand movement.All algorithms and systems are verified.Theoretical analysis and experiment results show that the inertial path reconstruction scheme presented in this thesis is applicable,which sets a foundation for further research work.