Research On The Structure Design And Master-slave Control Method Of Humanoid Manipulator

With the rapid development of robotics and computer technology,humanoid manipulators and their master-slave control methods have become a research hotspot in today's society.The humanoid manipulator has great practical significance in using the terminal robot as the actuator through master-slave control.This article analyzes its current advantages and disadvantages by studying the current domestic and foreign research status of humanoid manipulators and the methods master-slave control,and designs a humanoid manipulator based on science and technology such as bionics,robotics,and computer science.At the same time,a master-slave control method based on computer vision with human hand as the master hand and humanoid manipulator as the slave hand is proposed.By referring to the physiological structure and movement characteristics of the human hand,the transmission scheme of each part of the humanoid manipulator is determined;the master-slave control scheme of the humanoid manipulator is determined based on the identification of key point of hand based on Open CV.Optimizing the structure of the humanoid manipulator,the transmission mechanism of the humanoid manipulator plays a vital role in its motion performance.Taking the smoothness of the finger movement process of the humanoid manipulator as the optimization goal,the genetic algorithm is used to optimize the design of the four-bar mechanism in the transmission system;This kind of recovery unit provides a certain buffer force for the humanoid manipulator when it touches foreign objects and provides additional restoring torque for the fingers of the humanoid manipulator during the return process;the modular design idea is adopted to divide the humanoid manipulator into five finger modules and a palm module is designed separately.The kinematics and dynamics of the humanoid manipulator are analyzed,using the DH method to establish the kinematic model of the humanoid manipulator,to obtain the forward and inverse kinematic equations,and using Adams and simulation software to simulate and verify the correctness of the kinematic model;the method of combining nonlinear differential tracker and PID control are used to realize the position control of the finger of the humanoid manipulator,and the control algorithm is simulated with simulation software to verify the stability of the control algorithm.The master-slave control of the human manipulator lays the foundation.In order to achieve the purpose of controlling the humanoid manipulator with the human hand as the master hand,it is necessary to establish a fuzzy master-slave mapping relationship from the human hand to the humanoid manipulator.Based on Open CV's hand key point recognition,the movement intention of the main hand is obtained by identifying the distance change between the key points of the main hand,and the movement intention of the main hand is mapped to the humanoid manipulator using the fuzzification method.Thereby,the movement of the humanoid manipulator is controlled,and the master-slave mapping relationship between the human hand and the humanoid manipulator established in this paper is simulated based on simulation software,and the correctness of the proposed master-slave mapping relationship is verified.