Research On The Method Of Collaborative Robot Trajectory Planning And Face Tracking

With the increasing economic level and the rapid development of industrial technology,the working scenes of robot interaction with humans have become more and more popular,and the application and research of collaborative robots have entered a stage of rapid development.In view of the problem that the staff face the computer in a fixed posture for a long time and it is easy to cause fatigue or even cervical spondylosis,a cooperative robotic arm system is proposed that adaptively adjusts the posture of the computer monitor.The end of the arm is equipped with a computer monitor and a visual sensor.The arm is based on the visual sensor.The collected face image data is moved to adjust the position and posture of the computer display.In this context,this paper develops the host computer control interface of the cooperative robot system,and design a friendly human-computer interaction interface for the operator to use,and control the visual sensor to collect face image data for image filtering,face detection and tracking and face pose estimation algorithms,real-time acquisition of face position and attitude information and display on the host computer interface,and send data to the lower computer control system,drive the cooperative robot to adjust the position,thus changing the relative positional relationship between the computer display and the operator,realizing the function of automatic adjustment of the computer display,which helps to facilitate people's work and relieve fatigue.The following work is mainly completed in this paper :1.Through reviewing related papers and technical data,the domestic and international research status of the cooperative manipulator is summarized.According to the mechanical structure and hardware control system of the cooperative manipulator used in this paper,the scheme and process of the upper machine control system of the manipulator are designed.2.Determine the selection of the mechanical arm joint module and design the PC software.Based on Visual Studio 2015 software,the C# language is used to design the host computer interface,and the upper and lower computer communication protocols are formulated.According to the functional requirements of the mechanical arm,the serial port selection interface,the motion mode interface,the face tracking interface and the robot arm end trajectory planning interface of the upper computer control system are designed,so that the lower computer can realize the control of the robot arm according to the control command sent by the host computer and the communication protocol.3.Face tracking is achieved using two vision sensors,the Kinect v2 sensor and the ZED mini binocular camera.Through the Kinect v2 sensor,using the steps and programming methods of acquiring the data stream,combined with the Emgu CV,circle the face,nose and mouth area,realizing the real-time reading of the face position coordinates and face rotation of Euler angle.The ZED mini binocular camera is used to obtain the facial image,and the image is preprocessed by bilateral filtering to detect the Haar feature of the face and the Adaboost cascade classifier is used to realize the accurate face detection.TLD frame that fuses CamShift algorithm is used to realize face tracking.Then align the images of the left and right cameras,and use the SGBM algorithm to perform stereo matching,thereby obtaining the position and posture information of the face,sending it to the lower computer,driving the cooperative cooperation robot arm to make corresponding actions to move the computer screen,making the computer plane is parallel to the face plane,making it easy for people to work.4.Trajectory planning for the end track of the cooperative manipulator.In the Cartesian space coordinate system,the end trajectory of the cooperative manipulator is planned.According to the specific work requirements,the coordinates of the key control points are given.The interpolation theory is used to perform the curve interpolation,and the corresponding smooth curve is obtained.By using the curve segment motion track instead of the straight segment movement,the trajectory finally obtains the trajectory of the end of the robot.5.The functional test of the cooperative manipulator is carried out.The test results show that all the functional modules in the control system can meet the system requirements.