| In the 1950s and 1960s,the rapid development of computers and various calculation-based derivatives were born,among which robots were one of them.With the rapid development of society and the improvement of productivity,people are not only limited to satisfying their own food and clothing problems,but considering the use of various tools and methods to assist or even completely replace people,followed by the emergence of robots.As living standards improve,we need more kinds of robots,and we need more human-computer interaction to control the robots and help us get the job done.Therefore,the current research on robotics has become a hot topic.Under this premise,this paper proposes the research of Leap Motion gesture recognition and the design of dual-arm robot control system for Android platform.The dual-arm robot of this design has two five-degree-of-freedom manipulators and an omnidirectional sports chassis,and a movable head.Through Leap Motion's capture and recognition of gestures,the NRF24L01P wirelessly controls the robotic arm to grab objects without dead ends.Use the Android program to connect to WIFI to send control characters to control the omnidirectional motion chassis and head.The omni-directional sports chassis has more than ten different modes of movement that can easily overcome obstacles.This article describes from theoretical analysis to concrete implementation.The main research contents are as follows:(1)Introduce the control theory and wireless communication technology of the robot.(2)Design the structure and function of the dual-arm robot under the premise of satisfying the demand.The design structure of the two-arm robot is described,and the robot arm and the omnidirectional motion chassis are analyzed from two aspects of kinematics and control.(3)Implement the robot function from two aspects:hardware selection and software design.First,select and use the motor and other modules.Then use the Processing and Eclipse platform to complete the software design of the upper arm of the robot arm,the moving chassis and the head.The Arduino IDE is used to design the lower computer software for each part of the robot.(4)Complete the assembly of each part of the robot,debug the various functions of the robot,and record the test data to debug the robot to the optimal state.Finally,under the proposed requirements,the design and function of the robot were completed.This design uses two different control methods to control different parts of the dual?arm robot,especially Leap Motion for gesture control,which is a breakthrough in the traditional operation mode,adding more ways for human-computer interaction.The whole robot is controlled by wireless and can be applied to many fields of industry,science and military. |
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