Research On Direct Teaching For Humanoid Manipulator Of Seven Degrees Of Freedom

Robonaut can assist and replace astronauts to accomplish high-risk space tasks and some teaching methods of low learning cost are proposed to expand its collaboration ability.Compared with the traditional teaching method by teaching pendant,the direct teaching method is more natural and friendly.By motion sensing and hand guide demonstration,the robot can be taught and programmed quickly.Therefore,this paper studies the motion sensing and hand guide demonstration of 7 DOF humanoid manipulators,and some experiments of motion simulation and verification have been conducted.According to the structure of the manipulator,the kinematic model was established using D-H method.The inverse kinematics of the redundant manipulator is solved with the arm angle parameter method.In order to choose suitable arm angle,an optimization index of natural configuration is proposed and optimized by particle swarm optimization.At last of this part,the result of the kinematics has been calculated by Matlab.Firstly,the study of motion sensing demonstration for redundant manipulator is conducted.The position and posture of the palm and arm angle of the human arm are obtained by Kinect V2 to correspondent the human motion characters.A local constrained optimization method of end effector is used when the manipulator is beyond the joint limit.Then the verification is conducted.Then the study of hand guide demonstration for redundant manipulator is conducted.The cartesian impedance control model,which is build based on the kinematics optimized by selfmotion,is designed with the six-dimensional force sensor at the end of the manipulator.At the same time,the Lyapunov stability theory is used to optimize the impedance control,and a gravity compensation algorithm is implemented in order to eliminate the deviations of the tool' s gravity.A high-gain observer is designed to record the speed of the joint for continuous trajectory and filter the velocity and position using smoothing filter method.Then the verification is conducted with SimMechanics in order to analyze the parameter's impact to the impedance control system.Finally,the structure,control module and teleoperation platform of the robot platform are introduced.Several experiments including the kinematics experiment,motion sensing demonstration experiment and hand guide demonstration experiment were conducted to verify the feasibility and effectiveness of my study.The results of the experiments have been analyzed and drawn a conclusion that the motion sensing demonstration method is suitable for the task which is not high accuracy and the hand guide demonstration is suitable for the high precision tasks...