Research On Robot Control Method Based On EEG Energy Decoding

The use of human brain waves to control the mechanical arm is an important issue in the field of electromechanical engineering and informatics.In recent years,brain computer interface technology has made some progress.However,the more cumbersome multi-lead EEG acquisition device and the relatively complex control method limit its application in the actual scene.This paper explores the EEG energy decoding robot control method based on portable EEG sensor,which is to solve the above problems to a certain extent.This study has made some progress in the following aspects.The control effect of the steering gear is the key to the stable operation of the manipulator.In order to solve this problem,this paper analyzes the structure,working principle and performance characteristics of the digital servo steering gear module,constructs the PROTEUS simulation drive circuit and the actual hardware drive circuit of the digital servo,and uses the timer technology to design the width adjustable cycle control.The linear matching relationship between the pulse width and the action output angle of the commonly used digital servo steering gear is studied.In this paper,the control method of adjustable speed steering gear based on timing interpolation is studied.This method in order to overcome the problems of rigid and abnormal heating in the control of conventional digital steering gear.The control method is mainly used to design the timing interpolation algorithm and the algorithm implementation code.The article is to STC12C5A60S2 as the master chip to achieve high torque digital steering gear MG996 R speed control.The actual robotic arm usually has more than six degrees of freedom,so the above algorithm is improved to have the ability to control the 8-way steering gear at the same time.Conventional multi-lead EEG acquisition system is complex,inconvenient to carry,and the wired connection between the external control equipment limits its practical application.In order to overcome the above problems,this paper takes the headband sensor with TGAM module as the EEG acquisition device,extracts the forehead EEG,passes the serial communication into the host computer,and analyzes the concentration of the EEG packet And the relaxation signal.And the energy of the focus signal is integrated as an input signal source for the manipulator control signal.At the same time,the wireless robot control method based on PS2 communication protocol is studied and realized to overcome the problem of wired connection in practical application.On the basis of the above work,this paper integrates the manipulator,robot arm,digital servo,controller and EEG acquisition system.Try to use EEG processing and control of the robot to explore the performance of the system to further improve the direction and specific methods.