Humanoid mechanical arm control method based on Kinect sensor

Abstract

The invention discloses a humanoid mechanical arm control method based on a Kinect sensor. The method comprises the first step of collecting data through the Kinect sensor; the second step of preprocessing the collected data, and then using relevant algorithms to conduct gesture segmentation; the third step of using a DBN neural network to conduct gesture recognition; the fourth step of converting recognized gestures into instructions in a fixed format; the fifth step of using a TCP protocol to conduct telecommunication, and then sending the instructions to a server side; the sixth step of making the server side receive and recognize the instructions, and obtaining a control parameter through kinematics calculation; the seventh step of making the server side control motions of a mechanical arm according to the control parameter. According to the humanoid mechanical arm control method based on the Kinect sensor, the requirements in the aspects of cost and accuracy in actual operation, response speed and the like are considered, the problems that a data glove is high in control cost, and the traditional human-computer interactive modes based on keyboards and the like have certain requirements on specialized knowledge are solved, and the humanoid mechanical arm control method has the advantages that the operation is humanized, the response speed is high, the accuracy is high, and the humanoid mechanical arm control method has very good robustness.

Description

technical field [0001] The invention relates to the field of human-computer interaction, in particular to a control method for a humanoid manipulator based on a Kinect sensor. Background technique [0002] With the development of robotics, the application fields of robots are constantly expanding, and the complexity of the tasks and environments of robot operations is increasing. And the requirements of fine operation tasks. Since most end grippers are designed for specific tasks, there are limitations such as lack of flexibility and limited gripping methods. It has become a demand in the field of robotics to develop a general-purpose end gripper to replace various specific end grippers to complete dexterous manipulation tasks in various environments. Since the humanoid manipulator has multiple fingers and palms like a human hand, it has strong functions and high versatility. Therefore, it can completely replace the human hand to complete various complex and dexterous oper...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to overcome the deficiencies of the existing human-computer interaction methods and provide a method for controlling the humanoid manipulator based on the Kinect sensor. Recognition rate and accuracy rate, this method considers the cost of actual operation and the requirements of accuracy rate and response speed, and overcomes the high cost of control based on data gloves and the need for professional knowledge based on traditional human-computer interaction methods such as mouse and keyboard. It has the advantages of user-friendly operation, fast response, high accuracy and good robustness

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