The Design Of Manipulator Teaching System Based On Inertial Sensor

With the development of science and technology,the previous human work is increasingly replaced by robot work.The application of Robot Teaching has begun to enter various fields,and the robot teaching technology that has emerged has also begun to be valued.Previously,robot users are all People with a certain foundation in robotics,However,with the promotion of robots,the users of robots are no longer limited to those intellectuals.How to design a teaching system that guarantees that the robot teaching accuracy meets the requirements of the application scenario and has a low threshold for getting started has become a robot that wants to further develop and "Out of the circle" needs to be solved.This graduation project chose to design a robotic arm teaching system based on MEMS inertial sensors.The teaching object of this project is a six-degree-of-freedom robotic arm,a mechanical device that imitates a human arm,and its work center is the end effector of the robotic arm,If you want to establish the mapping from the sensor on the human arm to the robotic arm,the following steps are roughly needed to achieve teaching,The following steps are roughly required to realize the teaching of a six-degree-of-freedom manipulator:(1)We have simplified the kinematics model of the human body,and simplified the physiological structure of the complex human body on the basis of ensuring the rationality of the algorithm.(2)We use the attitude calculation technology to calculate the current attitude information of the sensor through the data collected by the MEMS inertial sensor.(3)For the design of the mapping algorithm from sensor data to the end of the manipulator,we designed a mapping relationship based on spatial pose and a smoothing filtering method based on trajectory.(4)For the analysis of the end of the manipulator,we carried out the construction of the mathematical model of the manipulator and the analysis and derivation of related kinematics formulas.According to these four steps,the design of the teaching system is carried out and finally the simulation experiment of the robot arm is carried out to verify the feasibility of the design idea.