Research And Design Of Two-arm Explosive Disposal Robot Based On Somatosensory Control

In today's world,terrorist activities continue to threaten the peace and stability of society,and the lifting of the threat of various dangerous substances has become a very urgent task.Explosive disposal robot are the primary choice for such high-risk tasks,so intuitive and simple remote human-computer interaction is the most important goal in this task.However,most of the explosive disposal robots still use the buttons,joysticks and other devices to control the movement of the robot.This operation mode has a long operation time and complicated operation.Therefore,this thesis proposes to use the somatosensory technology to control the explosive disposal robot and realize the remote somatosensory control of the robot.Based on the research of robotic somatosensory control technology,this thesis focuses on the realization of somatosensory control functions.The micro-inertial device is used to collect the human body posture information,and the corresponding human motion model is established.The posture calculation algorithm is used to transform the human body motion posture into the robot motion posture.Finally,the transformed attitude control information is transmitted to the robot to realize the somatosensory control of robot.Based on a large number of related literatures,the main contents of this thesis are as follows:(1)The realization method and research status of somatosensory control explosive disposal robot are summarized.On this basis,the research content and research significance of this subject are put forward.(2)The manipulator model and the human joint motion model are established as the theoretical basis for realizing somatosensory control.Firstly,forward kinematic solution and the inverse kinematics solution are applied to the manipulator model to provide a theoretical basis for controlling the position and attitude of the manipulator.Secondly,the human joint motion model is established to solve the position,posture and joint rotation of each human joint.That provides a theoretical basis for capturing human movements and controlling body sense.(3)The capture scheme of human motion posture based on micro-inertial device is designed,and the human joint motion model is combined to realize the capture of human body movement posture.In this thesis,the human body attitude sensing node based on micro-inertial device is designed and fabricated,and pre-processing of noise in different micro-inertial devices in the node use corresponding filtering algorithm.Secondly,the error source of each inertial device is analyzed and the corresponding calibration is completed.The fusion algorithm realizes the updating of the posture,and the function of attitude estimation can be realized.Finally,based on the NRF24L01+RF module,the attitude data acquisition of the human body attitude sensing node is realized,and the human joint motion model is combined to finally capture the entire human body motion posture.(4)The double-arm explosive disposal robot platform was built,and realized the somatosensory control of the robot.Firstly,the manipulator motion mapping method and the working area of the end of the manipulator and the end of the human arm are analyzed.The motion mapping of the end of the human arm and the end of the arm is established.Secondly,the simulation of body motion and manipulator motion is established by MATLAB to verify the feasibility of somatosensory control.Finally,the two-arm explosive disposal robot platform is built,and the position and posture of the human arm ends are captured,and the somatosensory control of the robot movement is completed.(5)Design a finger motion capture sensor based on the combination of optical fiber sensing principle and optical principle.The sensor can detect the bending angle of the index finger and the rotation angle of the thumb around the index finger.The sensor can be used in the somatosensory control of the mechanical claw.