Dual-arm Robot Motion Simulation And Trajectory Tracking Based On Kinect

Robot is one of the most creative inventions throughout history.Dual-arm robot structures imitate upper limb of the human body,consequently,the robot can simulate actions of human more effectively and achieve functions at the greatest possibility.Howerver,conventional mechanical arm control is unnatural and trajectory planning process is complex.Posture perception technology is a new method for human-computer interaction.As a posture perception device,Kinect has good performance and low price,therefore it has strong theoretical significance and practical application value to researches on motion simulation and trajectory tracking of dual-arm robots.Usually,robots with two arms are designed with the structure of human body.Due to the existence of a certain proportion of the human arm and the robot arm,as well as the different ratio between the upper arm and forearm,accomplishing motion simulation doesn't mean a consistent trajectory of the end point at the same time.In this paper,the application of Kinect in dual arm robot is analyzed from two aspects.The first aspect is motion simulation.The robot arms simulate the movement of the human arm to perform the same action,such as the dual-arm robot dance choreography.First,transmitting the human arm position information acquired with Kinect to the computer through the USB interface.Then calculate the shoulder,elbow,wrist joints rotation angles by using the space vector method,and sent the angle value to the lower computer through the wireless module.The computer input control signals transmit via CAN bus to each joint servo motor of the robot to rotate a specified angle,and completing the robot arms simulation with the human action and achieving a good human-machine interaction experience eventually.The second aspect is trajectory tracking.The end of the dual arm robot and the human arms have the same trajectory in order to complete the same given task,such as motion-teaching,moving objects and so on.In the tracking process,we use the Kinect to locate the hand's end in real-time when human arms move according to a certain trajectory.Then forward and inverse kinematics are carried out in order to plan the robot arm trajectory,employing joint space interpolation.Finally,the signals are transmitted to the lower computer to make the robot arm complete the corresponding displacement based on the human movements,in other words,follow the same track.The two scenarios are proved by experiments,and the results show that the dual-arm robot based on Kinect can naturally perform human-computer interaction and complete the task according to human teaching.The feasibility of Kinect robot motion simulation and trajectory tracking shows the potentials in relevant tasks using the proposed approaches.