| Recently,with the continuous progress of science and technology and the decline of the abor,more and more robots are appearing in various industrial sites.Generally,robot control is often written in advance.The robot moves along a fixed trajectory.But on many occasions.We prefer the robot to mimic the arms of the human body.With the advent of a variety of new sensors and robots,It is possible to achieve this idea.This paper is based on external sensors to control robot based on humanoid action,makes the robot imitate human arm movement.It is more natural and convenient for the user to control the manipulator.This paper mainly contains the following parts.The first part is on the basis of full reference to domestic and foreign literature.This paper chooses Kinect as a sensor.Baxter robot is used as control object.Building a human-computer interaction system hardware through a router.And the programming of each node of the human-computer interaction system is completed under the ROS system.At the same time,the Matlab/Simulink module is added to the system.It adds the powerful data processing and controller design functions of Matlab into the system.The second part completed the kinematics and dynamics model of the Baxter robot by the official description of the robot.The kinematics model of the double arm motion of the human body is established.the analysis of the working space of the two has laid a foundation for the next research.The third part first uses the space vector method to calculate the joint angle of the human body based on the data collected by the sensor.Next in order to make the system more practical,The acquisition of the posture of the end of the human arm by a sensor.Point to point control for manipulator.In order to overcome the inverse solution of redundant manipulator.The inverse solution algorithm of CLIK is proposed.The validity of the algorithm is proved.Finally,the effectiveness of the system is verified by experiments. |
