| Manipulator is one of the most widely used automation devices in the field of robot science and technology.At present,most of the traditional manipulator control methods are completed by pre programming or command input using external equipment.This kind of control method is usually complex and cumbersome,and operators need to be familiar with specific programming methods or control instructions according to different types of manipulator.With the appearance of motion sensing equipment—Kinect,a new non-contact motion sensing technology has been developed rapidly.This technology shows a broad application prospect in the field of intelligent robot.In order to achieve a more simple and flexible manipulator control method,this paper designs a Kinect based motion sensing control system,which can complete the rotation control of the manipulator by identifying and analyzing the movement changes of the human body.The main research contents of this paper include the following aspects:First of all,based on Kinect sensor and its depth measurement principle,this paper analyzes the method of obtaining the joint point data needed by the motion sensing control system.The kinematic model of the manipulator is established,and the workspace of the manipulator is analyzed by drawing the point cloud diagram.Secondly,a motion recognition algorithm based on joint angle data is designed.The data of joint points obtained by Kinect are calculated as joint angle data by using the space vector method.And the joint angle datas are smooth by the improved filtering method.The human-machine coding and mapping rules are designed,and the transfer from human motion change to manipulator motion change is completed.Then,the motion sensing control system of the manipulator is designed on the basis of motion recognition algorithm.In the aspect of hardware,the manipulator and its control unit are selected and configured.In the aspect of software,the motion sensing recognition system based on WPF project is developed,and the manipulator control program is compiled by Arduino IDE,so as to achieve the goal of motion sensing control.Finally,the motion sensing control system of the manipulator is verified by experiments,including the rotation control experiment and the grab experiment.The experimental results show that the system can complete the control of the manipulator through the results of human feature recognition,and realize the motion sensing control function of the manipulator,which meets the design requirements. |
