| Based on the Shandong Science and Technology Project "Research on Key Technologies of Tai-Chi Push-hands Robot",the project takes Tai-Chi Push-hands robot as the research object,launches the corresponding theoretical research,and makes a lot of theoretical analysis,model simulation and experimental debugging.The simulation system and the solid model platform are built,besides,the trajectory planning,kinematics,information acquisition and control of humanoid robot are studied and analyzed.The main contents of the thesis are as follows:(1)Kinematics of robots.Firstly,the simulation model of the manipulator is built in MATLAB,and the forward and inverse kinematics equations of the robot are solved and analyzed.Through the analysis of the motion trajectory of the Tai-Chi push-hands,the actual verification is carried out in the simulation model.The corresponding angle values of each joint are obtained by using the inverse kinematics equation of the robot,which are used for the control of the solid model.(2)Research on PID based on ant colony algorithm.In order to respond quickly when the manipulator is disturbed by external forces,the ant colony algorithm is added to optimize the parameters of the PID.In order to respond quickly when the manipulator is disturbed by external forces,ant colony algorithm is added to optimize the parameters of PID.In view of the second-order control system of DC motor,the PID parameters tuned by ant colony algorithm are compared with the traditional PID parameters tuning method.A simulation model is built in MATLAB,obtaining the response curves of the two methods.The PID regulator optimized by ant colony algorithm has advantages in all aspects of performance indicators.It can adjust the control system more quickly when the manipulator is disturbed.(3)Tai-Chi push-hands arm system based on STM32 platform.A 3-DOF manipulator control system based on STM32 is built,analying the hardware modules and software of the system.The speed and angle control modes of the manipulator are analyzed,and the influence of the outside world is monitored by force sensor in real time.Based on the results of simulation analysis,under the control of this system,the motion trajectory of Tai-Chi push-hands can be preliminarily completed.(4)Construction of a humanoid robot system based on Kinect depth camera.In order to have a better effect in human-computer interaction,this thesis takes Kinect and Nao robot as the research object,introduces their principles and establishes coordinate system,collects human body posture information with Kinect depth camera and transmits it to Nao robot,initially completes the effect of human-computer tracking.In order to improve the recognition effect of subtle actions,the inertial navigation module is added to carry out pose detection and assistant recognition.Finally,Kinect is used to collect the position of the experimenter's hand,and the joint angle data which controls the motion of the robot is obtained through the inverse kinematics equation of the robot,so that the robot can cater to the human hands and complete the effect of human-computer interaction. |
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