Mechanical arm pose control method based on gesture recognition

Abstract

The invention discloses a mechanical arm pose control method based on gesture recognition. The post of an arm can be obtained through an intelligent wrist belt, and the angle of each joint angle on aworking mechanical arm is solved based on the pose through positive inverse kinematics. The method comprises the specific steps that the wrist belt is wirelessly connected with a PC terminal through Bluetooth, and electromyographic signals collected by an intelligent wrist belt module are transmitted to a remote client; the remote client receives the signals and transmits the signals to a data processing module, the signals are filtered and denoised in the data processing module, and gestures are classified after treatment; after denoising in the data processing module, positive inverse kinematics is used for solving the joint angle; the joint angles of arms of an operator are obtained through two intelligent wrist belts; the signals of the joint angles and operation instruction signals can be transmitted to an intelligent wrist belt module through the remote client; gesture action signals are sent to a simulated mechanical arm in a simulation module; and the simulated arm sends signals to the working mechanical arm, and the mechanical arm executes commands.

Description

technical field [0001] The invention relates to a method for controlling the pose of a manipulator based on gesture recognition, so that the pose of the human arm can be obtained through a smart wristband, and then the pose can be calculated through forward and reverse kinematics to obtain the angle of each joint angle of the working manipulator . Background technique [0002] With the introduction of "Made in China 2025", my country's manufacturing industry has officially embarked on the road of transformation and upgrading with intelligent manufacturing as an important development direction. The replacement of manual production by robots has become an important development trend in the future manufacturing industry. Industrial robots, as the "pearl at the top of the manufacturing industry", will vigorously promote the early realization of industrial automation, digitalization, and intelligence, and lay the foundation for intelligent manufacturing. [0003] In terms of ind...

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Problems solved by technology

Zhu Maojuan, Wang Linbing, Zeng Qi et al proposed a robot and its teaching communication system (Zhu Maojuan, Wang Linbing, Zeng Qi et al. Robots and their teaching communication system: China, 205620710[P].2016-01-04), realized The data communication between the teaching collector and the controller, but the communication method is wired, has space limitations and lacks confidentiality; Zhang Jian and Jin Zhe proposed a non-contact gesture control robot (Zhang Jian, Jin Zhe. A non-contact gesture control robot: China, CN203973550U, 2014-12-03), by installing a camera on the manipulator as a gesture monitoring device, combined with a communication device, the grasping of the manipulator is realized, but the requirements for the camera are high, and The installation is inconvenient and the control accuracy and stability are not high, which is not conducive to the control of the actual mechanical arm, making it a great safety hazard

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