Research On The Motion Control System Of Humanoid Robot Based On Kinec

With the continuous improvement of industrial technology and continuous innovation of technology,robotics has been widely used in many fields such as industry,medical care and entertainment.As a special robot,humanoid robot has an irreplaceable role in the daily life field,especially in some harsh environments that are not suitable for human work.However,in terms of the robot's motion control,how to conveniently control the robot and realize the robot's exact imitation and real-time reproduction of the human's actual movement has become the current research hotspot.The appearance of the Kinect sensor developed by Microsoft has provided a new method for people.The Kinect sensor has the advantages of low cost,easy to use and rich data,enabling non-contact control of robots.The humanoid robot manipulator man-machine interaction analysis,in the knowing of the Kinect somatosensory sensor can capture the human skeleton node after the proposed sensor Kinect capture human joints for humanoid robot manipulator control scheme based on computer,and simulate it.The following studies have been done.First,compare the several kinds of motion capture technologies,analyze their respective advantages and disadvantages,understand the functions and characteristics of Kinect somatosensor,and further study the principle of deep image technology and skeleton tracking technology of Kinect.The Kinect development environment is built,and the skeleton tracking program is developed.The joint data is successfully extracted and filtered to provide raw data for humanoid robot arm control.Secondly,based on study of the mathematical theory of robot arm,describe the articulation point of human arm,and analyze the inverse kinematics of redundant seven degrees of freedom based on elbow constraint.With the help of Robotic Toolbox robot toolbox,seven degree of freedom manipulator model of humanoid robot,complete simple manipulator trajectory planning;inverse operation angle control of mechanical arm skeletal joints used by Kinect,observation and analysis the end point of mechanical arm motion trajectory.Finally,study the principle of PID control of robotic arm controller,design fuzzy PID controller combined with fuzzy mathematics,build a simulation model in Simulink,analyze and compare the performance of PID control and fuzzy PID control,and improve the control effect of manipulator.