The Research Of Human-Machine Interaction System For Mobile Manipulator

With the development of robot technology, all kinds of robots are emerging for various industries. In real society, to complete a variety of job tasks mobile robot, let them to complete work like people, flexible working arm is essential, the ideal situation is having structure similar to human arms, so it can complete synergistic complex tasks. Mobile manipulator makes dual-arms robot owns higher redundancy exercise and broader working space, by coordination of manipulator and movable chassis movement, robot system can work in complex environment to instead of people. Mobile manipulator will be an important development direction of the robot.Mobile manipulator having fourteen degrees of freedom, it is extremely difficult with the traditional way of HMI, therefore it will be an important research direction on how to complete tasks accurately with robots system and achieve a natural, friendly, fast interaction method with operator. In this study, against of the characteristic of complex interaction of mobile manipulator, we use a wearable device MYO and 3D Mouse to interact with it, make full exert of intelligent decision-making ability of the operator and autonomous property of robot at the same time. Targeted at the problem in this study was put forward, this paper studies the following aspects:In the system, we use tracked mobile platform as the mobile chassis of the mobile manipulator, we set up the kinematic model of tracked robot, planning the control method and the interaction method of the robot system; we use six degrees of freedom articulated arm as the arms of the system, establish its kinematic model, and forward and inverse kinematics analysis, simulation and verification, as theoretical basis for the realization of HMI.In this study, we use six freedom 3DMouse and smart wristband MYO to interactive with the robot’s fourteen degrees of freedom, operator can compensate for closed-loop control of robot, to catch the target object accurately with the operator, fully use intelligent decision-making ability of the operator and robot autonomy, greatly improved work efficiency. Guarantee a better availability and reliability of the system, convenient the operator to control the robot.For the method of the study, do some experimental verification with 3DMouse, smart wristband MYO and robot platform. Process the data of smart wristband MYO, precise definition of gesture commands to control the robot, facilitate the realization of the tracked robot control. By handle signal acquisition and processing of 3DMouse, applied to the six degrees of freedom articulated robot, interactive with the robot system with J mode and P mode. Test the accuracy and reliability when 3DMouse operating six degrees of freedom robot, to ensure the feasibility and practicability of the system.