Study Of The Control Technology Of The Manipulator For Elder And Disabled

This paper researched on the design of a multi DOF Manipulator Control System of the elderly and the disabled.First of all, according to the structural characteristics of the elderly and the disabled of the manipulator, establish the D-H model parameters, calculate the forward kinematics equation, and combined with the Monte Carlo method to analyze the elderly and the disabled the working space of the manipulator. The Jacobi matrix of the manipulator is derived to help the old and disabled, and provides a theoretical basis for the analysis of trajectory planning and speed control of the manipulator in the elderly and the disabled.Secondly, because of the elderly and the disabled manipulator working in unstructured environments, aiming at this characteristic adopted a method of laser point identification based on stereo vision. Binocular stereo visual localization using industrial camera, through threshold segmentation algorithm for target positioning,3D coordinates can not only locate the face of the mouth, but also can guide the location within the space of any valid coordinate by laser. An error correction algorithm based on BP neural network is quoted for the system error.Then, according to the robotics decoupling theory, adopt a kind of manipulator inverse kinematics Help Age disabled decoupling algorithm based on generalized regression neural network, object coordinate inverse solution of the manipulator joint angle.Finally, the trajectory planning of the position and attitude of the elderly and the disabled manipulator was done. By installing a MPU6050 chip collection inclination angle of a small arm of the manipulator arm, according to the motion of the two motors of the angle by the attitude control of small arms on the compensation algorithm of the manipulator hand keep balanced attitude. Because there may be obstacles in the elderly and the disabled the working space of the manipulator,aiming at this problem, this paper quotes an artificial potential field method in algorithm of manipulator position based planning.