Design And Implementation Of Manipulator Control System Based On Motion Mapping

Under the development environment of “Made in China 2025” and “Industry 4.0”,industrial robots are of great help to improve the production efficiency of enterprises in terms of industrial intelligence.Existing industrial robots are not conducive to human operation due to their highly complex control panels,program control,high limitation of control mapping and low self-adaptive capability.And the high-speed development of somatic control makes the adaptive operation of industrial robots possible.To solve the above problems,relying on the team’s self-developed flexible sensors and combined with practical application projects,the thesis designed a motion mapping-based robotic arm control system,which can realize real-time control of bionic robot operation through somatosensory.The main research contents are as follows.This thesis aimed at the somatosensory control of the bionic robot to move and grasp objects,and focuses on the acquisition of human joint information and the motion mapping control method,which conducts in-depth research on the hardware system of the bionic robot system,the optimization processing of sensor data and the motion mapping method.1.The hardware design and implementation of the bionic robot system were carried out: the system includes the human-side motion capture and acquisition system and the bionic robot hardware system.2.The Kalman filtering method based on sliding threshold preprocessing was proposed to study.The flexible sensor exists stretching type overshoot spikes and small spurious jitter condition in the stretching process,which is not conducive to the subsequent decision judgment as well as control stability.Aiming at this characteristic,the Kalman filter method of sliding threshold pre-processing is designed.The sliding threshold reduced the large jitter amplitude in advance,and then the Kalman filter was used for further de-jittering and smoothing to enhance the stability and smoothness of the data.3.The human-machine motion mapping and control method was studied.We adopt the seven-degree-of-freedom arm mapping method based on the end attitude,which was adopted to solve the corresponding attitude.Then application of the PID theory was used to design the corresponding PD controller to realize the man-machine motion mapping.The dual-loop PID control algorithm based on the directional and angular loops was used to achieve fast and accurate control of the axial rotation motion.4.The experiment of the somatosensory control system was carried out,which included the mechanical degree of freedom in place control experiment of the robot arm,the follow-motion control and the grasping task experiment.The experimental test results showed that the system can better complete the joint motion mapping from human body to the bionic robot so that realize the human body to the bionic robot’s follow-movement somatosensory control without the complex control panel,which can reduce the difficulty of control and also realize the immersive anthropomorphic operation.