The Design Of The Control System Of The Motion-sensing Technology Based On Forearm Movement

With the progress of sensor technology, the intelligent application based on the motion-sensing is developing rapidly, especially in the intelligent robot which has made remarkable achievements. The paper designed a motion-sensing control system which is based on the movement in the forearm. The system takes a kind of six degrees of freedom mechanical arm as the carrier,which realizes the motion-sensing control from the human body forearm movement to mechanical arm by collecting the motion of the forearm information and turning the information into mechanical arm control signals. In this paper, the system is studied in the following areas.Firstly, This system uses a modular system hardware design. The system hardware consists of three modules: signal acquisition module, main control module and mechanical arm control module. Signal acquisition module is composed of inertial sensor collection under the control of the micro-controller. It collects the human movement information under the condition of multiple nodes and transform the collected human movement information to the main control module under the condition of multiple nodes in order to take data on processing. Meanwhile it turns the control signal to Mechanical arm control module in order to control the movement, then we can simulate human forearm movement gesture through the mechanical arm.Secondly, the system designs control software respectively for the hardware platform module. Data acquisition module control software is used for collecting the movement data in every inertial sensors and communicate with the main controller by serial port. In the software of main control module, we filter the collected data through the complementary filter. And turn the forearm movement information to control angle through the trigonometric function algorithm. On this ground, we use pulse signal control algorithm to control the movement of mechanical arm.Finally, this paper models the mechanical arm and makes simulations for robotic arm movement according to the human body structure. On this ground, this paper realizes the system implementation and certification. Through the experiment analysis and comparison of the simulation results, it proves that this system implements the forearm movement of mechanical arm motion-sensing controls and get a better control accuracy.