Research On Human-Computer Interaction Seven-DOF Manipulator System

Since the birth of industrial robots for more than half a century,various technologies have been gradually improved,and they have been widely used in automobile manufacturing industries and other industrial production processes,and have achieved remarkable economic benefits.However,traditional industrial robots can only work in an unmanned environment.It is necessary to isolate the robots in the working environment from the operators.The robots cannot get rid of the restrictions on the working range of the safety fence,and also affect the robots and the workers to complete the various tasks.The ability of robots and workers to complete various tasks will be affected.Therefore,designing and constructing a 7dof manipulator system with human-computer interaction safety performance will have broad application prospects and practical value in military applications and civil operations.This paper designs a 7dof manipulator system,including a physical prototype of a 7dof manipulator and a control system for a set of manipulators.By integrating a variety of external sensors,safety-related monitoring stops,manual guidance,and power and in terms of the limitation of force,the research on the safety of human-computer interaction of the 7dof manipulator is carried out,mainly as follows:(1)This paper introduces the practical significance and application background of the human-computer interaction safety of the 7dof manipulator to industrial production,and summarizes the development and research status of the existing 7dof manipulator,robot control system and industrial robot safety issues.(2)The design work of the 7dof mechanical arm prototype is introduced.According to the design parameters of repeated positioning accuracy ±0.1mm,load 6kg and working radius 1100mm,the overall design of the 7dof manipulator system is determined,including the the overall layout scheme of manipulator system,mechanical structure of mechanical arm and hardware selection scheme of control system,introduction of motion controller and servo system connection;analysis of mechanical components of 7dof mechanical arm using ANSYS software;a serialized elastic drive parametric design software is designed according to organizing the process of elastic drive.(3)For the 7dof manipulator designed in this paper,the kinematics of forward and inverse solution analysis,workspace analysis and MATLAB simulation are carried out.The ADAMS simulation software is used to simulate the dynamics of the 7dof manipulator,and the structural design and correctness of drive system selection is verified.(4)For the software requirement analysis of the manipulator controller,the design scheme of the 7dof manipulator software system is given;the functional modules are divided into software systems,and the upper-layer motion control and the bottom motion control based on ROS are introduced in detail.The bottom arm joint motion control,position closed loop control and safety interaction control based on motion control card are introduced.The three kinds of human-computer interaction forms of safety-related monitoring stop,manual guidance and force limitation are emphasized.(5)In the experimental part,according to the ISO/TS 15066 technical standard,a set of 7dof manipulator human-computer interaction safety research platform is built,and the mechanical arm repeat positioning accuracy experiment,the Kinect-based human-machine environment monitoring experiment,the zero-force control experiments and safety collision experiments and other related human-computer interaction safety experiments are carried.