Design And Implementation Of A Humanoid Arm Control System

With the development of artificial intelligence technology,service robots become more and more intelligent,and the interaction between people and robots becomes more and more frequent,so there are more requirements for personification of the robot.Humanoid robot arm is similar to human arm structure and movement way,compared with the traditional industrial mechanical arm,has better affinity,more qualified for the requirement of the robot in the future.Therefore,study the control of humanoid robot arm in service robot has certain practical significance.In this paper,the humanoid robot control system based on heterogeneous multi-core Zynq SoC is designed,and the hardware and software are divided into Zynq's characteristics and design requirements to improve the system performance.This paper first studies the motion capture scheme based on MEMS inertial sensor,analyzes the data preprocessing method of sensor and the attitude solving algorithm based on data fusion.Through the analysis of the structure and motion of the human arm and the humanoid arm,the motion capture scheme is determined.Second,analyze the relative movement of the humanoid arm,human arm and wrist.Through the attitude mapping and posture decomposition,the human arm posture is transformed into the control of the humanoid manipulator,and the teleoperation of the humanoid manipulator is realized.Thirdly,the inverse kinematics method of humanoid manipulator based on geometric method and analytic method is studied and the trajectory planning is discussed.In view of the shortcomings of open loop control algorithm of existing manipulator,by adding the movement detect of robot arm,A control algorithm based on attitude feedback is proposed to realize the closed-loop control of humanoid manipulator.At last,the paper analyzes the relevant algorithms,analyzes the relevant performance indexes,designs the pension service robot,and implements the control scheme of the humanoid manipulator on the platform and tests it.Experiments show that the proposed control scheme can better control the humanoid manipulator and achieve the expected research goal.