Research And Implementation Of Human-Computer Interaction Cooperative Control Based On Target Pose

When exploring specific environments with unknown risks,such as deep-sea exploration,fixed-point detonation,nuclear waste disposal,space exploration,etc.,in order to ensure personal safety,robots will be used as an alternative to explore dangerous operating environments,and the collected data will be feedback to the operators.However,this method often adopts the teaching pendant and keyboard control method,and generally displays the camera image on the monitor,which is very different from the on-site operation.With the rapid development of technologies such as Sensors,Intelligent Robot Control,and Virtual Reality,a new type of Human-computer Interaction Collaborative Control method emerges as the times require.In the process of operation,the Virtual Reality technology is used to increase people's presence perception,integrate people's subjective initiative,human beings dominate,and robots are assisted.However,there are still many problems in the process of Human-computer Interaction Collaborative Control,mainly including the natural in-coordination in the interaction process and the lack of accuracy in the control process.Aiming at these problems,this paper adopts two schemes to design a whole set of Human-computer Interaction Cooperative Control system based on target pose.The specific research work is as follows:(1)Aiming at the natural in-coordination problem in the process of Human-computer Interaction,this paper proposes a Human-computer Interaction Cooperative Control scheme based on Inertial Measurement Unit(IMU)attitude calculation.The IMU sensor is mounted on the head-mounted display,and after calibration and correction,the gyroscope,accelerometer,and magnetometer data are collected when the human head is moving,and the quaternion attitude fusion algorithm based on the gradient descent method is selected to perform fusion processing.The calculated head attitude angle is sent to the two-degree-offreedom servo gimbal equipped with the ZED camera through the ?C bus communication protocol through the STM32 circuit board,so that it maintains a synchronous movement attitude with the head,and the camera screen is displayed in real time to in a head-mounted display.(2)Aiming at the problem of poor accuracy in the control process,this paper proposes a Human-computer Interaction Collaborative Control scheme for the UR robotic arm based on the pose of the VR handle.Supported by the Unity3D virtual engine,a VR interactive scene with universal interactive behavior is designed and implemented through the SteamVR plugin;Lighthouse positioning and tracking technology based on HTC VIVE devices is used to obtain the pose information of the handle in the virtual environment;Socket is used as the communication method connects the Unity3D system environment with the ROS system of the UR robotic arm,and obtains the attitude information of the latter according to the pose mapping relationship between the handle and the end effector of the robotic arm;Combined with the inverse kinematics analysis of the manipulator,the attitude angle of each joint's rotation is solved to drive the motion of each joint.The experimental results show that the method using IMU attitude calculation is more natural because it conforms to the concept of human kinematics;the method using VR handle pose is more accurate because it needs to obtain specific attitude information.