Research On Construction Method Of Security Interaction And Collaboration System Based On Baxter Robot

With the advancement of human science and technology,more and more robots have entered into people's daily life.The interaction and cooperation between humans and robots is becoming more and more important,and this is also a major challenge in the development of robots.In the process of using a robot to cooperate with a person,the operation of the robot can only be used by a professionally trained person due to professional restrictions.Therefore,a simple and direct interaction method is urgently needed to promote the use of robots.In addition,the robot must have a certain ability to cooperate safely during use.Such as: the ability to recognize the cooperation objects-human actions and intentions;the ability to sense changes in the environment,and to be able to take autonomous measures to ensure the safety,intelligence and efficiency of human-machine collaboration.This article takes Rethink's Baxter dual-arm collaborative robot as the research object.Aiming at the problems of insufficient programmability of Baxter robots and the inconvenience of dragging and teaching;and the low sensitivity of collision detection during motion and the low ability of autonomous decision-making after collision with obstacles,a set of GUI-based and Simulink were proposed Collaborative security interaction system.This system improves the human-computer interaction mode of Baxter robot to a certain extent,and it has theoretical guidance significance for studying the safety of robot in the process of interacting with environment and human.The main research contents include the following aspects:(1)Research the control method of Baxter robot based on ROS communication framework,and propose a safe interaction system framework based on MATLAB /Simulink and GUI.By setting up the Stateflow state logic control system to achieve safe interaction and cooperation.(2)Based on the analysis of kinematics and dynamics theory,a zero-force drag teaching control based on force control mode and an inverse dynamic model-based collision detection algorithm are proposed to realize drag teaching and post-collision safety of Baxter robots.The response strategy provides theoretical support.(3)Based on the theory of dual-arm kinematics and machine vision,determine the approximate position and shape of the obstacle encountered by the robot during its movement,and complete the online replanning of the obstacle avoidance movement of the robot based on the spatial information of the obstacle.(4)Build a software system based on MATLAB / Simulink and GUI to facilitate human-computer interaction and collaborative experiments.Such as Baxter robot's drag teaching under the framework of this software system,collision detection during simple collaborative experiments,safety trajectory tracking control and obstacle avoidance path replanning.